feat: Log incoming ROS service calls

vorausrobotik · Dec 13, 2024 · 6e750ac · 6e750ac
1 parent e089a91
commit 6e750ac
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/ros_services.rs b/src/ros_services.rs
@@ -20,7 +20,7 @@ impl ROSServices {
         _request_header: &rclrs::rmw_request_id_t,
         _request: Empty_Request,
     ) -> Empty_Response {
-        info!("ROS service called");
+        info!("ROS service call: Enable impedance control");
         let object_id = NodeId::new(1, 100182);
         let method_id = NodeId::new(1, 100263);
         self.opc_ua_client
@@ -37,6 +37,7 @@ impl ROSServices {
         _request_header: &rclrs::rmw_request_id_t,
         _request: Empty_Request,
     ) -> Empty_Response {
+        info!("ROS service call: Disable impedance control");
         let object_id = NodeId::new(1, 100182);
         let method_id = NodeId::new(1, 100264);
         self.opc_ua_client