From 61458f88168ed1bec2474e0ad52a785d180e907b Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim Date: Wed, 28 Feb 2024 16:56:33 +0200 Subject: [PATCH] fix(log-messages): lower some info msgs to debug Signed-off-by: AhmedEbrahim --- localization/localization_util/src/util_func.cpp | 2 +- localization/ndt_scan_matcher/src/map_update_module.cpp | 2 +- localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/localization/localization_util/src/util_func.cpp b/localization/localization_util/src/util_func.cpp index bb32741067e65..ae6f0b61f063c 100644 --- a/localization/localization_util/src/util_func.cpp +++ b/localization/localization_util/src/util_func.cpp @@ -241,7 +241,7 @@ void output_pose_with_cov_to_log( rpy.y = rpy.y * 180.0 / M_PI; rpy.z = rpy.z * 180.0 / M_PI; - RCLCPP_INFO_STREAM( + RCLCPP_DEBUG_STREAM( logger, std::fixed << prefix << "," << pose.position.x << "," << pose.position.y << "," << pose.position.z << "," << pose.orientation.x << "," << pose.orientation.y << "," << pose.orientation.z << "," << pose.orientation.w << "," << rpy.x diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp index 0132e6edf8667..286540a12ac72 100644 --- a/localization/ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/ndt_scan_matcher/src/map_update_module.cpp @@ -182,7 +182,7 @@ bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt const auto duration_micro_sec = std::chrono::duration_cast(exe_end_time - exe_start_time).count(); const auto exe_time = static_cast(duration_micro_sec) / 1000.0; - RCLCPP_INFO(logger_, "Time duration for creating new ndt_ptr: %lf [ms]", exe_time); + RCLCPP_DEBUG(logger_, "Time duration for creating new ndt_ptr: %lf [ms]", exe_time); return true; // Updated } diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index cd637791f04b6..711dd84e9ea03 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -992,7 +992,7 @@ geometry_msgs::msg::PoseWithCovarianceStamped NDTScanMatcher::align_pose( result_pose_with_cov_msg.pose.pose = best_particle_ptr->result_pose; output_pose_with_cov_to_log(get_logger(), "align_pose_output", result_pose_with_cov_msg); - RCLCPP_INFO_STREAM(get_logger(), "best_score," << best_particle_ptr->score); + RCLCPP_DEBUG_STREAM(get_logger(), "best_score," << best_particle_ptr->score); return result_pose_with_cov_msg; }