Better error message in pr2_head_action (ros ticket #5149)

[ahendrix]

I'm seeing an error message when I try to point the head in some cases, and I'd like to see where it's coming from. Can this message be made more informative:

pr2_head_action/src/pr2_point_frame.cpp:265
{{{
if(traj_state.response.name.size() != joints)
{
ROS_ERROR("Number of joints mismatch: urdf chain vs. trajectory controller state.");
gh.setRejected();
return;
}
std::vectorurdf::JointLimits limits_(joints);
}}}

Specifically, can we add:

• Joints from the trajectory controller and and command (by name)
• Connection header or other info, so we know who's calling this

trac data:

• Owner: aleeper
• Reporter: watts
• Reported at: Wed Sep 21 11:02:33 2011
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/5149