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fix(log-messages): reduce excessive log messages in velodyne decoder #118

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merged 2 commits into from
Mar 29, 2024
Merged

fix(log-messages): reduce excessive log messages in velodyne decoder #118

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eed34b8
fix(log-messages): lower some info message to debug
Feb 19, 2024
21c9e10
fix(log-messages): removing leftover std::cout log from from the ori…
Feb 28, 2024
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9 changes: 4 additions & 5 deletions nebula_common/include/nebula_common/velodyne/velodyne_calibration_decoder.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
*
* License: Modified BSD License
*
* $ Id: 02/14/2012 11:25:34 AM piyushk $

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*/

#ifndef NEBULA_VELODYNE_CALIBRATION_DECODER_H
Expand Down Expand Up @@ -59,15 +59,14 @@
std::vector<VelodyneLaserCorrection> laser_corrections;
int num_lasers{};
bool initialized;
bool ros_info;

public:
explicit VelodyneCalibration(bool info = true)
: distance_resolution_m(0.002f), initialized(false), ros_info(info)
explicit VelodyneCalibration()
: distance_resolution_m(0.002f), initialized(false)
{
}
explicit VelodyneCalibration(const std::string & calibration_file, bool info = true)
: distance_resolution_m(0.002f), ros_info(info)
explicit VelodyneCalibration(const std::string & calibration_file)
: distance_resolution_m(0.002f)
{
read(calibration_file);
}
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4 changes: 0 additions & 4 deletions nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
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Expand Up @@ -162,10 +162,6 @@
// store this ring number with its corresponding laser number
calibration.laser_corrections[next_index].laser_ring = ring;
next_angle = min_seen;
if (calibration.ros_info) {
std::cout << "laser_ring[" << next_index << "] =" << ring << ", angle = " << next_angle
<< std::endl;
}
}
}
}
Expand Down Expand Up @@ -237,11 +233,11 @@

void VelodyneCalibration::write(const std::string & calibration_file)
{
std::ofstream fout(calibration_file.c_str());

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YAML::Emitter out;
out << *this;
fout << out.c_str();

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fout.close();

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}

} // namespace drivers
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2 changes: 0 additions & 2 deletions nebula_decoders/src/nebula_decoders_velodyne/velodyne_driver.cpp
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Expand Up @@ -14,8 +14,6 @@ VelodyneDriver::VelodyneDriver(
{
// initialize proper parser from cloud config's model and echo mode
driver_status_ = nebula::Status::OK;
std::cout << "sensor_configuration->sensor_model=" << sensor_configuration->sensor_model
<< std::endl;
switch (sensor_configuration->sensor_model) {
case SensorModel::UNKNOWN:
driver_status_ = nebula::Status::INVALID_SENSOR_MODEL;
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6 changes: 3 additions & 3 deletions nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
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Expand Up @@ -15,19 +15,19 @@ VelodyneDriverRosWrapper::VelodyneDriverRosWrapper(const rclcpp::NodeOptions & o
RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
return;
}
RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
RCLCPP_DEBUG_STREAM(this->get_logger(), this->get_name() << ". Starting...");

calibration_cfg_ptr_ =
std::make_shared<drivers::VelodyneCalibrationConfiguration>(calibration_configuration);

sensor_cfg_ptr_ = std::make_shared<drivers::VelodyneSensorConfiguration>(sensor_configuration);

RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
RCLCPP_DEBUG_STREAM(this->get_logger(), this->get_name() << ". Driver ");
wrapper_status_ = InitializeDriver(
std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));

RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
RCLCPP_DEBUG_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);

velodyne_scan_sub_ = create_subscription<velodyne_msgs::msg::VelodyneScan>(
"velodyne_packets", rclcpp::SensorDataQoS(),
Expand Down
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