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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10
plugins/inflation_layer.cpp
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@@ -186,7 +186,7 @@ void InflationLayer::onFootprintChanged()
computeCaches();
need_reinflation_ = true;
printf("InflationLayer::onFootprintChanged(): num footprint points: %lu,"
robot::log_info("InflationLayer::onFootprintChanged(): num footprint points: %lu,"
" inscribed_radius_ = %.3f, inflation_radius_ = %.3f\n",
layered_costmap_->getFootprint().size(), inscribed_radius_, inflation_radius_);
}
@@ -199,19 +199,19 @@ void InflationLayer::updateCosts(robot_costmap_2d::Costmap2D& master_grid, int m
// make sure the inflation list is empty at the beginning of the cycle (should always be true)
if(!inflation_cells_.empty())
printf("The inflation list must be empty at the beginning of inflation\n");
robot::log_error("The inflation list must be empty at the beginning of inflation\n");
unsigned char* master_array = master_grid.getCharMap();
unsigned int size_x = master_grid.getSizeInCellsX(), size_y = master_grid.getSizeInCellsY();
if (seen_ == NULL) {
printf("InflationLayer::updateCosts(): seen_ array is NULL\n");
robot::log_error("InflationLayer::updateCosts(): seen_ array is NULL\n");
seen_size_ = size_x * size_y;
seen_ = new bool[seen_size_];
}
else if (seen_size_ != size_x * size_y)
{
printf("InflationLayer::updateCosts(): seen_ array size is wrong\n");
robot::log_error("InflationLayer::updateCosts(): seen_ array size is wrong\n");
delete[] seen_;
seen_size_ = size_x * size_y;
seen_ = new bool[seen_size_];
@@ -405,7 +405,7 @@ void InflationLayer::handleImpl(const void* data,
const std::type_info& info,
const std::string& source)
{
printf("This function is not available!\n");
robot::log_error("This function is not available!\n");
}