From cd6700e4fe362e73401035a316e70f99c0ccacfd Mon Sep 17 00:00:00 2001 From: Nathan Figueroa Date: Wed, 15 May 2024 23:07:50 -0400 Subject: [PATCH] feat: Updated arm movement error handling to including execution info --- src/phyto_arm/src/arm_base.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/phyto_arm/src/arm_base.py b/src/phyto_arm/src/arm_base.py index e59b479..d75bc9f 100755 --- a/src/phyto_arm/src/arm_base.py +++ b/src/phyto_arm/src/arm_base.py @@ -108,13 +108,12 @@ def winch_done(state, move_result): # Ensure winch move was successful assert state == actionlib.GoalStatus.SUCCEEDED - # Free up semaphore for another winch movement assert self.release_clearance() callback(move_result) except Exception as e: - rospy.logerr(f'Unexpected error: {e}') - rospy.signal_shutdown(f'Shutting down due to unexpected error: {e}') + rospy.logerr(f'Unexpected error during winch movement', exc_info=True) + rospy.signal_shutdown(f'Shutting down due to unexpected winch movement error') raise e self.winch_client.send_goal(MoveToDepthGoal(depth=depth, velocity=speed), done_cb=winch_done)