Joint State Broadcaster print warning when unable to remap the interface properly

[saikishor]

Joint State Broadcaster

In the Joint_state_broadcaster, when we use the map_interface_to_joint_state parameter, when the interface is not found, when the remapped interface is not found, then it rolls back to the default one. When it chooses the default one, it would be nice to have a warning printed to notify the user that the remapping is not happening on certain joints.

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.

ros2_controllers/joint_state_broadcaster/src/joint_state_broadcaster_parameters.yaml

Lines 29 to 41 in a88bf0a

	map_interface_to_joint_state:
	position: {
	type: string,
	default_value: "position",
	}
	velocity: {
	type: string,
	default_value: "velocity",
	}
	effort: {
	type: string,
	default_value: "effort",
	}

ros2_controllers/joint_state_broadcaster/src/joint_state_broadcaster.cpp

Lines 241 to 245 in a88bf0a

	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];
	}