DuongTD/costmap_2d
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replaced printf -> robot::console

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This commit is contained in:
HiepLM
2026-01-10 11:38:19 +07:00
parent b66bd7c751
commit b18aeb39ab
14 changed files with 65 additions and 80 deletions
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17
plugins/directional_layer.cpp
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@@ -36,7 +36,7 @@ namespace robot_costmap_2d
{
unsigned int size_x = new_map.info.width, size_y = new_map.info.height;
printf("Received a %d X %d map at %f m/pix\n", size_x / 2, size_y / 2, new_map.info.resolution);
robot::log_info("Received a %d X %d map at %f m/pix\n", size_x / 2, size_y / 2, new_map.info.resolution);
// resize costmap if size, resolution or origin do not match
Costmap2D *master = layered_costmap_->getCostmap();
@@ -48,7 +48,7 @@ namespace robot_costmap_2d
master->getOriginY() != new_map.info.origin.position.y))
{
// Update the size of the layered costmap (and all layers, including this one)
printf("Resizing costmap to %d X %d at %f m/pix\n", size_x / 2, size_y / 2, new_map.info.resolution);
robot::log_info("Resizing costmap to %d X %d at %f m/pix\n", size_x / 2, size_y / 2, new_map.info.resolution);
layered_costmap_->resizeMap(size_x / 2, size_y / 2, new_map.info.resolution, new_map.info.origin.position.x,
new_map.info.origin.position.y,
true /* set size_locked to true, prevents reconfigureCb from overriding map size*/);
@@ -59,7 +59,7 @@ namespace robot_costmap_2d
origin_y_ != new_map.info.origin.position.y)
{
// only update the size of the costmap stored locally in this layer
printf("Resizing static layer to %d X %d at %f m/pix\n", size_x / 2, size_y / 2, new_map.info.resolution);
robot::log_info("Resizing static layer to %d X %d at %f m/pix\n", size_x / 2, size_y / 2, new_map.info.resolution);
resizeMap(size_x / 2, size_y / 2, new_map.info.resolution,
new_map.info.origin.position.x, new_map.info.origin.position.y);
}
@@ -99,12 +99,12 @@ namespace robot_costmap_2d
}
else
{
printf("Stop receive new map!\n");
robot::log_info("Stop receive new map!\n");
}
// shutdown the map subscrber if firt_map_only_ flag is on
if (first_map_only_)
{
printf("Shutting down the map subscriber. first_map_only flag is on\n");
robot::log_info("Shutting down the map subscriber. first_map_only flag is on\n");
map_shutdown_ = true;
// map_sub_.shutdown();
}
@@ -129,7 +129,7 @@ namespace robot_costmap_2d
unsigned int mx, my;
if (!worldToMap(p.pose.position.x, p.pose.position.y, mx, my))
{
printf("ERROR: trying to set a start cell %f %f that is outside of map\n", p.pose.position.x, p.pose.position.y);
robot::log_error("ERROR: trying to set a start cell %f %f that is outside of map\n", p.pose.position.x, p.pose.position.y);
return false;
}
// Convert to yaw
@@ -263,8 +263,7 @@ namespace robot_costmap_2d
y_max_w = std::max(y_max_w, y[i].second);
}
// printf("%d %d %d %d", x_min, y_min, x_max, y_max);
// printf("%f %f %f %f", x_min_w, y_min_w, x_max_w, y_max_w);
for (int i = 0; i < yaw_robot.size(); i++)
{
if(inSkipErea(pose_x_, pose_y_, x[i].second, y[i].second, distance_skip_))
@@ -407,7 +406,7 @@ namespace robot_costmap_2d
}
catch (tf3::TransformException &ex)
{
printf("%s\n", ex.what());
robot::log_error("%s\n", ex.what());
return false;
}
// Copy map data given proper transformations