Reduce terminal printouts from slotcar (#73)

* Move certain printouts to debug stream Signed-off-by: Yadunund <yadunund@openrobotics.org> * Use const reference Signed-off-by: Yadunund <yadunund@openrobotics.org>
open-rmf · Jun 23, 2022 · 23717f1 · 23717f1
1 parent 4320b0d
commit 23717f1
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/rmf_building_sim_common/src/lift_common.cpp b/rmf_building_sim_common/src/lift_common.cpp
@@ -140,7 +140,7 @@ uint32_t LiftCommon::get_door_state(
   const auto doors = floor_to_door_map.find(
     _lift_state.current_floor)->second;
   const std::size_t num = doors.size();
-  for (const std::string door : doors)
+  for (const std::string& door : doors)
   {
     const auto& door_state = door_states.find(door)->second;
     if ((door_state) &&

diff --git a/rmf_robot_sim_common/src/slotcar_common.cpp b/rmf_robot_sim_common/src/slotcar_common.cpp
@@ -264,7 +264,7 @@ void SlotcarCommon::path_request_cb(
 
   const auto old_path = _remaining_path;
 
-  RCLCPP_INFO(
+  RCLCPP_DEBUG(
     logger(),
     "%s received a path request with %d waypoints",
     _model_name.c_str(), (int)msg->path.size());
@@ -593,14 +593,14 @@ SlotcarCommon::UpdateResult SlotcarCommon::update_diff_drive(
         return result;
 
       _remaining_path.erase(_remaining_path.begin());
-      RCLCPP_INFO(logger(),
+      RCLCPP_DEBUG(logger(),
         "%s reached waypoint %ld/%d",
         _model_name.c_str(),
         _traj_wp_idx,
         (int)trajectory.size());
       if (_traj_wp_idx == trajectory.size())
       {
-        RCLCPP_INFO(
+        RCLCPP_DEBUG(
           logger(),
           "%s reached goal -- rotating to face target",
           _model_name.c_str());
@@ -735,14 +735,14 @@ SlotcarCommon::UpdateResult SlotcarCommon::update_ackermann(
       _traj_wp_idx++;
 
       _remaining_path.erase(_remaining_path.begin());
-      RCLCPP_INFO(logger(),
+      RCLCPP_DEBUG(logger(),
         "%s reached waypoint %ld/%d",
         _model_name.c_str(),
         _traj_wp_idx,
         (int)trajectory.size());
       if (_traj_wp_idx == trajectory.size())
       {
-        RCLCPP_INFO(
+        RCLCPP_DEBUG(
           logger(),
           "%s reached goal",
           _model_name.c_str());