From d9ab02a8c7edce0f7bba452aeb8a97486d37c5d0 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 26 Sep 2023 12:07:49 +0900 Subject: [PATCH] refactor(controllers): use specific logger name (#5111) Signed-off-by: Takamasa Horibe --- .../mpc_lateral_controller/src/mpc_lateral_controller.cpp | 2 +- .../src/pid_longitudinal_controller.cpp | 2 +- .../src/pure_pursuit/pure_pursuit_lateral_controller.cpp | 5 ++++- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp index ce3529b4849ae..3d19104112a71 100644 --- 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(s); }; const auto dp_bool = [&](const std::string & s) { return node.declare_parameter(s); }; diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp index a943aa05be5ff..644effce50824 100644 --- 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 index 91b110b35b401..f0c49b07e675a 100644 --- 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();