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ICube-Robotics / ethercat_driver_ros2

Hardware Interface for EtherCAT module integration with ros2_control
https://icube-robotics.github.io/ethercat_driver_ros2/
Apache License 2.0
126 stars 32 forks source link

'updated!' log spam #77

Closed robin-zealrobotics closed 10 months ago

robin-zealrobotics commented 11 months ago

When using the cia402 drive and it takes a while for the drives to get initialized, every update of the master an info log statement occurs. https://github.com/ICube-Robotics/ethercat_driver_ros2/blob/3ccdb0dd7aa747fb0173390769876bbb4b9587ee/ethercat_driver/src/ethercat_driver.cpp#L321

With our setup of 2 drives, when they start with an external safety signal telling them to lock the brakes, they can't get into 'initialized' yet. During that time, the log gets filled with this statement at a rate of 200Hz (or whatever frequency we configured).

I'm not sure whether the fact that locked brakes can't go into initialized is a problem in itself, but I'm guessing the log spam is definitely not intended.

mcbed commented 11 months ago

Hi @robin-zealrobotics, Thanx for reporting this. In fact a buggy PR was merged and was reverted, try pulling the current main branch and it should solve your issue.

robin-zealrobotics commented 10 months ago

Hey,

Indeed, I thought I was running main, but was running 1.2.0 release. The recent commit seems to resolve this issue.

Thx!