diff --git a/core/src/stages/move_relative.cpp b/core/src/stages/move_relative.cpp index b8273f62..82cf4c74 100644 --- a/core/src/stages/move_relative.cpp +++ b/core/src/stages/move_relative.cpp @@ -109,15 +109,15 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning const std::string& group = props.get("group"); const moveit::core::JointModelGroup* jmg = scene->getRobotModel()->getJointModelGroup(group); if (!jmg) { - ROS_WARN_STREAM("MoveTo: invalid joint model group: " << group); + ROS_WARN_STREAM("MoveRelative: invalid joint model group: " << group); return false; } // only allow single target size_t count_goals = props.countDefined({"twist", "direction"}); if (count_goals != 1) { - if (count_goals == 0) ROS_WARN("MoveTo: no goal defined"); - else ROS_WARN("MoveTo: cannot plan to multiple goals"); + if (count_goals == 0) ROS_WARN("MoveRelative: no goal defined"); + else ROS_WARN("MoveRelative: cannot plan to multiple goals"); return false; } @@ -127,7 +127,7 @@ bool MoveRelative::compute(const InterfaceState &state, planning_scene::Planning if (link_name.empty()) link_name = solvers::getEndEffectorLink(jmg); if (link_name.empty() || !(link = scene->getRobotModel()->getLinkModel(link_name))) { - ROS_WARN_STREAM("MoveTo: no or invalid link name specified: " << link_name); + ROS_WARN_STREAM("MoveRelative: no or invalid link name specified: " << link_name); return false; }