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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4
test/static_layer_test.cpp
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@@ -67,9 +67,9 @@ void CostmapTester::compareCells(robot_costmap_2d::Costmap2D& costmap, unsigned
double furthest_valid_distance = 0; // ################costmap.cell_inscribed_radius_ + cell_distance + 1;
unsigned char expected_lowest_cost = 0; // ################costmap.computeCost(furthest_valid_distance);
if(neighbor_cost < expected_lowest_cost){
printf("Cell cost (%d, %d): %d, neighbor cost (%d, %d): %d, expected lowest cost: %d, cell distance: %.2f, furthest valid distance: %.2f",
robot::log_error("Cell cost (%d, %d): %d, neighbor cost (%d, %d): %d, expected lowest cost: %d, cell distance: %.2f, furthest valid distance: %.2f",
x, y, cell_cost, nx, ny, neighbor_cost, expected_lowest_cost, cell_distance, furthest_valid_distance);
printf("Cell: (%d, %d), Neighbor: (%d, %d)", x, y, nx, ny);
robot::log_error("Cell: (%d, %d), Neighbor: (%d, %d)", x, y, nx, ny);
costmap.saveMap("failing_costmap.pgm");
}
EXPECT_TRUE(neighbor_cost >= expected_lowest_cost || (furthest_valid_distance > 0/* costmap.cell_inflation_radius_ */&& neighbor_cost == robot_costmap_2d::FREE_SPACE));