message: improved prints in resource_helpers
diff: @@ -46,9 +46,8 @@ bool getArmClaimedMap(ResourceWithClaimsMap& resource_map, ArmClaimedMap& arm_cl
  // 7 non-torque claims on joint_level or one claim on cartesian level.
  for (auto map_it = resource_map.begin(); map_it != resource_map.end(); map_it++) {
  if (!findArmIdInResourceId(map_it->first, &current_arm_id)) {
  - ROS_ERROR_STREAM("Could not find arm_id in resource "
  - << map_it->first
  - << ". Conflict! Name joints as '<robot_arm_id>_joint<jointnumber>'");
  + ROS_ERROR_STREAM("Resource conflict: Could not find arm_id in resource "
  + << map_it->first << ". Name joints as '<robot_arm_id>_joint<jointnumber>'");
  return false;
  }
  ResourceClaims new_claim;
  @@ -139,8 +138,9 @@ ControlMode getControlMode(const std::string& arm_id, ArmClaimedMap& arm_claim_m
  bool hasConflictingMultiClaim(const ResourceWithClaimsMap& resource_map) {
  for (const auto& resource : resource_map) {
  if (resource.second.size() > 2) {
  - ROS_ERROR_STREAM("FrankaHW: Resource "
  - << resource.first << " claimed with more than two interfaces. Conflict!");
  + ROS_ERROR_STREAM("Resource conflict: " << resource.first
  + << " is claimed with more than two command interfaces "
  + "which is not supported.");
  return true;
  }
  uint8_t torque_claims = 0;
  @@ -154,9 +154,10 @@ bool hasConflictingMultiClaim(const ResourceWithClaimsMap& resource_map) {
  }
  }
  if (torque_claims != 1) {
  - ROS_ERROR_STREAM("FrankaHW: Resource "
  + ROS_ERROR_STREAM("Resource conflict: "
  << resource.first
  - << " is claimed with two non-compatible interfaces. Conflict!");
  + << " is claimed with a combination of two interfaces that is not "
  + "supported.");
  return true;
  }
  }
  @@ -174,8 +175,9 @@ bool hasConflictingJointAndCartesianClaim(const ArmClaimedMap& arm_claim_map,
  arm_claim_map.at(arm_id).joint_position_claims +
  arm_claim_map.at(arm_id).joint_velocity_claims >
  0)) {
  - ROS_ERROR_STREAM("FrankaHW: Invalid claims on joint AND cartesian level on arm "
  - << arm_id << ". Conflict!");
  + ROS_ERROR_STREAM(
  + "Resource conflict: Invalid combination of claims on joint AND cartesian level on arm "
  + << arm_id << " which is not supported.");
  return true;
  }
  }
  @@ -192,8 +194,9 @@ bool partiallyClaimsArmJoints(const ArmClaimedMap& arm_claim_map, const std::str
  arm_claim_map.at(arm_id).joint_velocity_claims != 7) ||
  (arm_claim_map.at(arm_id).joint_torque_claims > 0 &&
  arm_claim_map.at(arm_id).joint_torque_claims != 7)) {
  - ROS_ERROR_STREAM("FrankaHW: Non-consistent claims on the joints of "
  - << arm_id << ". Not supported. Conflict!");
  + ROS_ERROR_STREAM("Resource conflict: Partially claiming joints of arm "
  + << arm_id
  + << " is not supported. Make sure to claim all 7 joints of the robot.");
  return true;
  }
  }
  