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frankaemika / libfranka

C++ library for Franka research robots
https://frankaemika.github.io
Apache License 2.0
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commandNotPossibleMsg(): improve error message #124

Closed rhaschke closed 1 year ago

rhaschke commented 1 year ago

Replace multiple occurrences of identical error messages with a function. Ideally, the current mode would be shown there as well, i.e. command rejected: command not possible in the current mode (reflex)!

However, I didn't find the corresponding mode member immediately - there are so many similar mode members!

rhaschke commented 1 year ago

I think the mode in the error message refers to RobotMode. I added a corresponding field to allow for reporting that mode.

marcbone commented 1 year ago

Thanks for your PR. This should make the error message much clearer. I added an additional message for the mode "other" that suggests to open the brakes