fix(log-messages): reduce excessive log messages (#6406)

* fix(log-messages): lower log level from info to debug in concatenate_and_time_sync_nodelet for info about subscribing to topics and their names

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* fix(log-messages): adding info print in smart_pose_buffer indicating that there is a mismatch in timestamp

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* fix(log-messages): removing info msg that is redundant with error msg

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

* fix(log-messages): lower some info msgs to debug

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

---------

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>

Author: ahmeddesokyebrahim

localization/localization_util/src/smart_pose_buffer.cpp

@@ -40,6 +40,7 @@ std::optional<SmartPoseBuffer::InterpolateResult> SmartPoseBuffer::interpolate(
     const rclcpp::Time time_last = pose_buffer_.back()->header.stamp;
 
     if (target_ros_time < time_first) {
+      RCLCPP_INFO(logger_, "Mismatch between pose timestamp and current timestamp");
       return std::nullopt;
     }
 

localization/localization_util/src/util_func.cpp

@@ -241,7 +241,7 @@ void output_pose_with_cov_to_log(
   rpy.y = rpy.y * 180.0 / M_PI;
   rpy.z = rpy.z * 180.0 / M_PI;
 
-  RCLCPP_INFO_STREAM(
+  RCLCPP_DEBUG_STREAM(
     logger, std::fixed << prefix << "," << pose.position.x << "," << pose.position.y << ","
                        << pose.position.z << "," << pose.orientation.x << "," << pose.orientation.y
                        << "," << pose.orientation.z << "," << pose.orientation.w << "," << rpy.x

localization/ndt_scan_matcher/src/map_update_module.cpp

@@ -182,7 +182,7 @@ bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt
   const auto duration_micro_sec =
     std::chrono::duration_cast<std::chrono::microseconds>(exe_end_time - exe_start_time).count();
   const auto exe_time = static_cast<double>(duration_micro_sec) / 1000.0;
-  RCLCPP_INFO(logger_, "Time duration for creating new ndt_ptr: %lf [ms]", exe_time);
+  RCLCPP_DEBUG(logger_, "Time duration for creating new ndt_ptr: %lf [ms]", exe_time);
   return true;  // Updated
 }
 

localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp

@@ -992,7 +992,7 @@ geometry_msgs::msg::PoseWithCovarianceStamped NDTScanMatcher::align_pose(
   result_pose_with_cov_msg.pose.pose = best_particle_ptr->result_pose;
 
   output_pose_with_cov_to_log(get_logger(), "align_pose_output", result_pose_with_cov_msg);
-  RCLCPP_INFO_STREAM(get_logger(), "best_score," << best_particle_ptr->score);
+  RCLCPP_DEBUG_STREAM(get_logger(), "best_score," << best_particle_ptr->score);
 
   return result_pose_with_cov_msg;
 }

localization/pose_initializer/src/pose_initializer/ndt_module.cpp

@@ -40,7 +40,6 @@ PoseWithCovarianceStamped NdtModule::align_pose(const PoseWithCovarianceStamped
   RCLCPP_INFO(logger_, "Call NDT align server.");
   const auto res = cli_align_->async_send_request(req).get();
   if (!res->success) {
-    RCLCPP_INFO(logger_, "NDT align server failed.");
     throw ServiceException(
       Initialize::Service::Response::ERROR_ESTIMATION, "NDT align server failed.");
   }

sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp

@@ -145,10 +145,10 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro
 
   // Subscribers
   {
-    RCLCPP_INFO_STREAM(
+    RCLCPP_DEBUG_STREAM(
       get_logger(), "Subscribing to " << input_topics_.size() << " user given topics as inputs:");
     for (auto & input_topic : input_topics_) {
-      RCLCPP_INFO_STREAM(get_logger(), " - " << input_topic);
+      RCLCPP_DEBUG_STREAM(get_logger(), " - " << input_topic);
     }
 
     // Subscribe to the filters

sensing/pointcloud_preprocessor/src/filter.cpp

@@ -77,7 +77,7 @@ pointcloud_preprocessor::Filter::Filter(
     latched_indices_ = static_cast<bool>(declare_parameter("latched_indices", false));
     approximate_sync_ = static_cast<bool>(declare_parameter("approximate_sync", false));
 
-    RCLCPP_INFO_STREAM(
+    RCLCPP_DEBUG_STREAM(
       this->get_logger(),
       "Filter (as Component) successfully created with the following parameters:"
         << std::endl