Less verbose

scripts/ilc_lib/ilc_lib.py

@@ -39,7 +39,7 @@ def resample(data, delta_ms):
 
 
 def write(file, data, header):
-    print("Writing to file: '%s'"%(file))
+    #print("Writing to file: '%s'"%(file))
     # Test if header fits
     if not len(header.split(',')) == data.shape[1]:
         raise ValueError("header and data does not fit!\nheader: '{}'\ndata[0]: '{}'".format(header, data[0,:]))
@@ -51,7 +51,7 @@ def write(file, data, header):
                delimiter =",")
 
 def read(file):
-    print("Reading from file: '%s'"%(file))
+    #print("Reading from file: '%s'"%(file))
     with open(file, 'r') as f:
         header_str = f.readline().strip()
     data = np.genfromtxt(file,

scripts/ilc_lib/ilc_rosproxy.py

@@ -50,7 +50,7 @@ class Ilc_serviceproxy:
                 rospack = rospkg.RosPack()
                 name = name.replace(matchObj.group(), "{}".format(rospack.get_path(matchObj.group(2))))
 
-        print("Decoded Name: {} -> {}".format(filename, name))
+        #print("Decoded Name: {} -> {}".format(filename, name))
         return name
 
 
@@ -64,7 +64,7 @@ class Ilc_serviceproxy:
 
     def callback_ilc_calc_meas(self, req):
         try:
-            print
+            #print
             path = self.decode_filename(req.filename_error)
 
             ### Read measurement data
@@ -163,7 +163,7 @@ class Ilc_serviceproxy:
         if req.reuse_scheme != 0:
             self.reshape = True
 
-        print("Retiming Service received:\n{}".format(req))
+        #print("Retiming Service received:\n{}".format(req))
         return RetimeILCResponse(success=True, message="done")
 
     def reshape_ff(self, last_ff, last_decay_time, new_decay_time):
@@ -174,8 +174,9 @@ class Ilc_serviceproxy:
     def callback_ilc_retime_if(self, req):
         #print("Retiming Service received:\n{}".format(req))
         try:
+            print("Convergence: {} > {}".format(np.max(ilc_lib.error_convergence(self.data_diff)), req.convergence_threshold))
             if (np.max(ilc_lib.error_convergence(self.data_diff)) < req.convergence_threshold):
-                print("Reducing trajectory time to {}".format(self.decay_time))
+                #print("Reducing trajectory time to {}".format(self.decay_time))
                 self.last_decay_time = self.decay_time
                 self.decay_time = self.decay_time * req.retime_factor
                 self.initialized = req.reuse_ff
@@ -184,7 +185,7 @@ class Ilc_serviceproxy:
                     self.reshape = True
 
                 # Call service to setpoint_ilc (retime factor is start parameter, not in service but must be in sync!)
-                print(req)
+                #print(req)
                 resp = rospy.ServiceProxy(req.retime_srv, Empty)()
                 print("-------------------------------------------")
                 print("Retimed from {}ms to {}ms".format(self.last_decay_time, self.decay_time))
@@ -192,7 +193,6 @@ class Ilc_serviceproxy:
 
                 return RetimeIfILCResponse(success=True, message="reshaped")
             else:
-                print("Convergence: {} > {}".format(np.max(ilc_lib.error_convergence(self.data_diff)), req.convergence_threshold))
                 return RetimeIfILCResponse(success=True, message="skipped")
 
         except Exception as e: