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added warning messages when unable to remap the interface properly in Joint State Broadcaster. #2082

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added warning messages when unable to remap the interface properly in Joint State Broadcaster. #2082

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206a893
added warning messages for missing interfaces
sviridovm Dec 26, 2025
d236614
Merge branch 'master' into jsb-warning
sviridovm Dec 26, 2025
95a0684
Update joint_state_broadcaster/src/joint_state_broadcaster.cpp
sviridovm Feb 25, 2026
f11cdec
added double
sviridovm Feb 25, 2026
3894545
Merge branch 'master' into jsb-warning
sviridovm Feb 27, 2026
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21 changes: 21 additions & 0 deletions joint_state_broadcaster/src/joint_state_broadcaster.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -251,11 +251,20 @@ bool JointStateBroadcaster::init_joint_data()
name_if_value_mapping_[prefix_name] = {};
}
// add interface name

std::string interface_name = si->get_interface_name();
if (map_interface_to_joint_state_.count(interface_name) > 0)
{
interface_name = map_interface_to_joint_state_[interface_name];
}
else
{
RCLCPP_WARN(
get_node()->get_logger(),
"Interface '%s' of joint '%s' is not mapped to any joint state field. The default value %f "
"will be used.",
interface_name.c_str(), prefix_name.c_str(), kUninitializedValue);
}
name_if_value_mapping_[prefix_name][interface_name] = kUninitializedValue;

// filter state interfaces that have at least one of the joint_states fields,
Expand All @@ -274,7 +283,19 @@ bool JointStateBroadcaster::init_joint_data()
}
}
}
else
{
// Moreover, when there is not even the default interface (position, velocity, effort),
// then it should also print that it is not present and NaN's will be obtained in the
// respective field.
Comment on lines +288 to +290
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@thedevmystic thedevmystic Apr 1, 2026

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Suggested change
// Moreover, when there is not even the default interface (position, velocity, effort),
// then it should also print that it is not present and NaN's will be obtained in the
// respective field.
// If default interfaces (pos/vel/eff) are missing, log a warning and return NaN in
// the fields.

Currently it's too wordy than necessary.

RCLCPP_WARN(
get_node()->get_logger(),
"Interface '%s' of joint '%s' is not present in JointState message fields. NaN's will be "
"filled in the respective field.",
interface_name.c_str(), prefix_name.c_str());
}
}

std::reverse(joint_names_.begin(), joint_names_.end());
if (is_model_loaded_ && params_.use_urdf_to_filter && params_.joints.empty())
{
Expand Down