[Personalrobots-commit] SF.net SVN: personalrobots:[17295] pkg/trunk/motion_planning/ planning_environment

[<is...@us...>]

Revision: 17295
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17295&view=rev
Author:   isucan
Date:     2009-06-18 18:29:08 +0000 (Thu, 18 Jun 2009)

Log Message:
-----------
changed defaults

Modified Paths:
--------------
    pkg/trunk/motion_planning/planning_environment/include/planning_environment/planning_monitor.h
    pkg/trunk/motion_planning/planning_environment/src/planning_monitor.cpp

Modified: pkg/trunk/motion_planning/planning_environment/include/planning_environment/planning_monitor.h
===================================================================
--- pkg/trunk/motion_planning/planning_environment/include/planning_environment/planning_monitor.h	2009-06-18 18:28:30 UTC (rev 17294)
+++ pkg/trunk/motion_planning/planning_environment/include/planning_environment/planning_monitor.h	2009-06-18 18:29:08 UTC (rev 17295)
@@ -56,8 +56,8 @@
 	
 	PlanningMonitor(CollisionModels *cm, std::string frame_id) : CollisionSpaceMonitor(static_cast<CollisionModels*>(cm), frame_id)
 	{
-	    nh_.param("~refresh_interval_collision_map", intervalCollisionMap_, 3.0);
-	    nh_.param("~refresh_interval_kinematic_state", intervalState_, 0.5);
+	    nh_.param("~refresh_interval_collision_map", intervalCollisionMap_, 0.0);
+	    nh_.param("~refresh_interval_kinematic_state", intervalState_, 0.0);
 	}
 	
 	PlanningMonitor(CollisionModels *cm) : CollisionSpaceMonitor(static_cast<CollisionModels*>(cm))

Modified: pkg/trunk/motion_planning/planning_environment/src/planning_monitor.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_environment/src/planning_monitor.cpp	2009-06-18 18:28:30 UTC (rev 17294)
+++ pkg/trunk/motion_planning/planning_environment/src/planning_monitor.cpp	2009-06-18 18:29:08 UTC (rev 17295)
@@ -41,13 +41,13 @@
 {
     if (!isMapUpdated(intervalCollisionMap_))
     {
-        ROS_WARN("Planning is not safe: map is not up to date");
+        ROS_WARN("Planning is not safe: map not updated in the last %f seconds", intervalCollisionMap_);
         return false;
     }
   
     if (!isStateUpdated(intervalState_))
     {
-        ROS_WARN("Planning is not safe: robot state is not up to date");
+        ROS_WARN("Planning is not safe: robot state not updated in the last %f seconds", intervalState_);
         return false;
     }
     return true;


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