From 023cdd5ba1849f4e0987ad51d32dfd6b85836c06 Mon Sep 17 00:00:00 2001
From: Mohammad Haghighipanah <mohammad.haghighipanah@intel.com>
Date: Tue, 18 Jun 2019 15:23:15 -0700
Subject: [PATCH] Changed unnecessary info messeges to debug
---
nav2_costmap_2d/plugins/static_layer.cpp | 4 ++--
nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp | 2 +-
nav2_navfn_planner/src/navfn_planner.cpp | 4 ++--
nav2_world_model/src/world_model.cpp | 2 +-
4 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/nav2_costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
index 63218c0b..afa17433 100644
--- a/nav2_costmap_2d/plugins/static_layer.cpp
+++ b/nav2_costmap_2d/plugins/static_layer.cpp
@@ -75,7 +75,7 @@ StaticLayer::onInitialize()
getMap();
if (!first_map_only_) {
- RCLCPP_INFO(node_->get_logger(), "Subscribing to the map topic (%s)", map_topic_.c_str());
+ RCLCPP_DEBUG(node_->get_logger(), "Subscribing to the map topic (%s)", map_topic_.c_str());
map_sub_ = node_->create_subscription<nav_msgs::msg::OccupancyGrid>(map_topic_,
rclcpp::SystemDefaultsQoS(),
std::bind(&StaticLayer::incomingMap, this, std::placeholders::_1));
@@ -152,7 +152,7 @@ StaticLayer::getMap()
void
StaticLayer::processMap(const nav_msgs::msg::OccupancyGrid & new_map)
{
- RCLCPP_INFO(node_->get_logger(), "StaticLayer: Process map");
+ RCLCPP_DEBUG(node_->get_logger(), "StaticLayer: Process map");
unsigned int size_x = new_map.info.width;
unsigned int size_y = new_map.info.height;
diff --git a/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp b/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp
index 1edf9cb7..dc6ac0af 100644
--- a/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp
+++ b/nav2_dwb_controller/dwb_controller/src/dwb_controller.cpp
@@ -171,7 +171,7 @@ DwbController::followPath(const std::shared_ptr<GoalHandle> goal_handle)
// Check if there is an update to the path to follow
if (action_server_->preempt_requested()) {
- RCLCPP_INFO(get_logger(), "Received a new goal, pre-empting the old one");
+ RCLCPP_DEBUG(get_logger(), "Received a new goal, pre-empting the old one");
current_goal_handle = action_server_->get_updated_goal_handle();
goal = current_goal_handle->get_goal();
diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp
index 4b33070d..0ba850d6 100644
--- a/nav2_navfn_planner/src/navfn_planner.cpp
+++ b/nav2_navfn_planner/src/navfn_planner.cpp
@@ -183,7 +183,7 @@ NavfnPlanner::computePathToPose(const std::shared_ptr<GoalHandle> goal_handle)
return;
}
- RCLCPP_INFO(get_logger(), "Attempting to a find path from (%.2f, %.2f) to "
+ RCLCPP_DEBUG(get_logger(), "Attempting to a find path from (%.2f, %.2f) to "
"(%.2f, %.2f).", start->pose.pose.position.x, start->pose.pose.position.y,
goal->pose.pose.position.x, goal->pose.pose.position.y);
@@ -213,7 +213,7 @@ NavfnPlanner::computePathToPose(const std::shared_ptr<GoalHandle> goal_handle)
// TODO(orduno): Enable potential visualization
- RCLCPP_INFO(get_logger(),
+ RCLCPP_DEBUG(get_logger(),
"Successfully computed a path to (%.2f, %.2f) with tolerance %.2f",
goal->pose.pose.position.x, goal->pose.pose.position.y, tolerance_);
goal_handle->succeed(result);
diff --git a/nav2_world_model/src/world_model.cpp b/nav2_world_model/src/world_model.cpp
index 1b6ae3ea..37a10459 100644
--- a/nav2_world_model/src/world_model.cpp
+++ b/nav2_world_model/src/world_model.cpp
@@ -105,7 +105,7 @@ WorldModel::costmap_service_callback(
const std::shared_ptr<nav2_msgs::srv::GetCostmap::Request>/*request*/,
const std::shared_ptr<nav2_msgs::srv::GetCostmap::Response> response)
{
- RCLCPP_INFO(get_logger(), "Received costmap service request");
+ RCLCPP_DEBUG(get_logger(), "Received costmap service request");
// TODO(bpwilcox): Grab correct orientation information
tf2::Quaternion quaternion;
--
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