refactor(controllers): use specific logger name (#5111)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
autowarefoundation · Sep 26, 2023 · d9ab02a · d9ab02a
1 parent 46f871f
commit d9ab02a
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
@@ -36,7 +36,7 @@ namespace autoware::motion::control::mpc_lateral_controller
 {
 
 MpcLateralController::MpcLateralController(rclcpp::Node & node)
-: clock_(node.get_clock()), logger_(node.get_logger())
+: clock_(node.get_clock()), logger_(node.get_logger().get_child("lateral_controller"))
 {
   const auto dp_int = [&](const std::string & s) { return node.declare_parameter<int>(s); };
   const auto dp_bool = [&](const std::string & s) { return node.declare_parameter<bool>(s); };

diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -30,7 +30,7 @@ namespace autoware::motion::control::pid_longitudinal_controller
 PidLongitudinalController::PidLongitudinalController(rclcpp::Node & node)
 : node_parameters_(node.get_node_parameters_interface()),
   clock_(node.get_clock()),
-  logger_(node.get_logger()),
+  logger_(node.get_logger().get_child("longitudinal_controller")),
   diagnostic_updater_(&node)
 {
   using std::placeholders::_1;

diff --git a/control/pure_pursuit/src/pure_pursuit/pure_pursuit_lateral_controller.cpp b/control/pure_pursuit/src/pure_pursuit/pure_pursuit_lateral_controller.cpp
@@ -57,7 +57,10 @@ enum TYPE {
 namespace pure_pursuit
 {
 PurePursuitLateralController::PurePursuitLateralController(rclcpp::Node & node)
-: clock_(node.get_clock()), logger_(node.get_logger()), tf_buffer_(clock_), tf_listener_(tf_buffer_)
+: clock_(node.get_clock()),
+  logger_(node.get_logger().get_child("lateral_controller")),
+  tf_buffer_(clock_),
+  tf_listener_(tf_buffer_)
 {
   pure_pursuit_ = std::make_unique<PurePursuit>();