ROS_ERROR("IriBTBasicNodes::compute_y_distance-> Incorrect or missing input. It needs the following input ports: pose1 (geometry_msgs::PoseStamped) pose2 (geometry_msgs::PoseStamped) distance (double)");
ROS_ERROR_STREAM("IriBTBasicNodes::compute_y_distance-> Points with different frame ids: pose1="<<pose1_value.header.frame_id<<"; pose2="<<pose1_value.header.frame_id);