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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9
src/observation_buffer.cpp
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@@ -68,7 +68,7 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
robot_geometry_msgs::TransformStamped transformStamped;
if (!tf3_buffer_.canTransform(new_global_frame, global_frame_, transform_time, &tf_error))
{
printf("Transform between %s and %s with tolerance %.2f failed: %s.\n", new_global_frame.c_str(),
robot::log_error("Transform between %s and %s with tolerance %.2f failed: %s.\n", new_global_frame.c_str(),
global_frame_.c_str(), tf_tolerance_, tf_error.c_str());
return false;
}
@@ -106,7 +106,7 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
}
catch (TransformException& ex)
{
printf("TF Error attempting to transform an observation from %s to %s: %s\n", global_frame_.c_str(),
robot::log_error("TF Error attempting to transform an observation from %s to %s: %s\n", global_frame_.c_str(),
new_global_frame.c_str(), ex.what());
return false;
}
@@ -207,7 +207,7 @@ void ObservationBuffer::bufferCloud(const robot_sensor_msgs::PointCloud2& cloud)
{
// if an exception occurs, we need to remove the empty observation from the list
observation_list_.pop_front();
printf("TF Exception that should never happen for sensor frame: %s, cloud frame: %s, %s\n", sensor_frame_.c_str(),
robot::log_error("TF Exception that should never happen for sensor frame: %s, cloud frame: %s, %s\n", sensor_frame_.c_str(),
cloud.header.frame_id.c_str(), ex.what());
return;
}
@@ -267,8 +267,7 @@ bool ObservationBuffer::isCurrent() const
bool current = (robot::Time::now() - last_updated_).toSec() <= expected_update_rate_.toSec();
if (!current)
{
printf(
"The %s observation buffer has not been updated for %.2f seconds, and it should be updated every %.2f seconds.\n",
robot::log_error("The %s observation buffer has not been updated for %.2f seconds, and it should be updated every %.2f seconds.\n",
topic_name_.c_str(), (robot::Time::now() - last_updated_).toSec(), expected_update_rate_.toSec());
}
return current;