Improve output messages

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp

@@ -260,8 +260,8 @@ namespace armarx
         void SelfCollisionChecker::selfCollisionAvoidanceTask()
         {
             throwIfInControlThread(BOOST_CURRENT_FUNCTION);
-            ARMARX_INFO << "entered selfCollisionAvoidanceTask";
-            ARMARX_ON_SCOPE_EXIT { ARMARX_INFO << "leaving selfCollisionAvoidanceTask"; };
+            ARMARX_INFO << "Self collision checker: entered selfCollisionAvoidanceTask";
+            ARMARX_ON_SCOPE_EXIT { ARMARX_INFO << "Self collision checker: leaving selfCollisionAvoidanceTask"; };
             while (true)
             {
                 const auto startT = std::chrono::high_resolution_clock::now();
@@ -274,7 +274,7 @@ namespace armarx
                 const bool inEmergencyStop = _module<ControlThread>().getEmergencyStopState() == eEmergencyStopActive;
                 if (inEmergencyStop || freq == 0)
                 {
-                    ARMARX_INFO << deactivateSpam() << "skipping " << VAROUT(freq) << " " << VAROUT(inEmergencyStop);
+                    ARMARX_INFO << deactivateSpam() << "Self collision checker: skipping check " << VAROUT(freq) << " " << VAROUT(inEmergencyStop);
                     //currently wait
                     std::this_thread::sleep_for(std::chrono::microseconds {1000});
                     continue;
@@ -310,7 +310,7 @@ namespace armarx
                         {
                             collision = true;
                             lastCollisionPairIndex = idx;
-                            ARMARX_WARNING << "COLLISION: '" << pair.first->getName() << "' and '" << pair.second->getName() << "'";
+                            ARMARX_WARNING << "Self collision checker: COLLISION: '" << pair.first->getName() << "' and '" << pair.second->getName() << "'";
                             _module<Units>().getEmergencyStopMaster()->setEmergencyStopState(EmergencyStopState::eEmergencyStopActive);
                             // since at least one of the NJoint-Controllers is going to cause a collision, we just kick them all.
                             _module<ControlThreadDataBuffer>().setActivateControllersRequest({});
@@ -319,7 +319,7 @@ namespace armarx
                     }
                     if (!collision)
                     {
-                        ARMARX_INFO << deactivateSpam() << "no collision found between the " << nodePairsToCheck.size() << " pairs";
+                        ARMARX_INFO << deactivateSpam() << "Self collision checker: no collision found between the " << nodePairsToCheck.size() << " pairs";
                     }
                 }
                 //sleep remaining