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Use node logging in warehouse save_as_text #2435

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Use node logging in warehouse save_as_text #2435

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18 changes: 9 additions & 9 deletions moveit_ros/warehouse/src/save_as_text.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,12 +52,11 @@

static const std::string ROBOT_DESCRIPTION = "robot_description";

static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ros.warehouse.save_to_text");

typedef std::pair<geometry_msgs::msg::Point, geometry_msgs::msg::Quaternion> LinkConstraintPair;
typedef std::map<std::string, LinkConstraintPair> LinkConstraintMap;

void collectLinkConstraints(const moveit_msgs::msg::Constraints& constraints, LinkConstraintMap& lcmap)
void collectLinkConstraints(const moveit_msgs::msg::Constraints& constraints, LinkConstraintMap& lcmap,
const rclcpp::Logger& logger)
{
for (const moveit_msgs::msg::PositionConstraint& position_constraint : constraints.position_constraints)
{
Expand All @@ -75,7 +74,7 @@ void collectLinkConstraints(const moveit_msgs::msg::Constraints& constraints, Li
}
else
{
RCLCPP_WARN(LOGGER, "Orientation constraint for %s has no matching position constraint",
RCLCPP_WARN(logger, "Orientation constraint for %s has no matching position constraint",
orientation_constraint.link_name.c_str());
}
}
Expand All @@ -88,6 +87,7 @@ int main(int argc, char** argv)
node_options.allow_undeclared_parameters(true);
node_options.automatically_declare_parameters_from_overrides(true);
rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("save_warehouse_as_text", node_options);
const auto logger = node->get_logger();

boost::program_options::options_description desc;
desc.add_options()("help", "Show help message")("host", boost::program_options::value<std::string>(),
Expand Down Expand Up @@ -125,7 +125,7 @@ int main(int argc, char** argv)
moveit_warehouse::PlanningSceneWithMetadata pswm;
if (pss.getPlanningScene(pswm, scene_name))
{
RCLCPP_INFO(LOGGER, "Saving scene '%s'", scene_name.c_str());
RCLCPP_INFO(logger, "Saving scene '%s'", scene_name.c_str());
psm.getPlanningScene()->setPlanningSceneMsg(static_cast<const moveit_msgs::msg::PlanningScene&>(*pswm));
std::ofstream fout((scene_name + ".scene").c_str());
psm.getPlanningScene()->saveGeometryToStream(fout);
Expand Down Expand Up @@ -155,7 +155,7 @@ int main(int argc, char** argv)
qfout << robot_state_names.size() << '\n';
for (const std::string& robot_state_name : robot_state_names)
{
RCLCPP_INFO(LOGGER, "Saving start state %s for scene %s", robot_state_name.c_str(), scene_name.c_str());
RCLCPP_INFO(logger, "Saving start state %s for scene %s", robot_state_name.c_str(), scene_name.c_str());
qfout << robot_state_name << '\n';
moveit_warehouse::RobotStateWithMetadata robot_state;
rss.getRobotState(robot_state, robot_state_name);
Expand All @@ -172,14 +172,14 @@ int main(int argc, char** argv)
qfout << constraint_names.size() << '\n';
for (const std::string& constraint_name : constraint_names)
{
RCLCPP_INFO(LOGGER, "Saving goal %s for scene %s", constraint_name.c_str(), scene_name.c_str());
RCLCPP_INFO(logger, "Saving goal %s for scene %s", constraint_name.c_str(), scene_name.c_str());
qfout << "link_constraint" << '\n';
qfout << constraint_name << '\n';
moveit_warehouse::ConstraintsWithMetadata constraints;
cs.getConstraints(constraints, constraint_name);

LinkConstraintMap lcmap;
collectLinkConstraints(*constraints, lcmap);
collectLinkConstraints(*constraints, lcmap, logger);
for (std::pair<const std::string, LinkConstraintPair>& iter : lcmap)
{
std::string link_name = iter.first;
Expand All @@ -198,7 +198,7 @@ int main(int argc, char** argv)
}
}

RCLCPP_INFO(LOGGER, "Done.");
RCLCPP_INFO(logger, "Done.");
rclcpp::spin(node);
return 0;
}
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