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Use node logging in warehouse broadcast (backport #2432) #2444

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Oct 12, 2023
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Use node logging in warehouse broadcast (backport #2432) #2444

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15 changes: 7 additions & 8 deletions moveit_ros/warehouse/src/broadcast.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,8 +64,6 @@ static const std::string CONSTRAINTS_TOPIC = "constraints";

static const std::string STATES_TOPIC = "robot_states";

static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ros.warehouse.broadcast");

using namespace std::chrono_literals;

int main(int argc, char** argv)
Expand All @@ -75,6 +73,7 @@ int main(int argc, char** argv)
node_options.allow_undeclared_parameters(true);
node_options.automatically_declare_parameters_from_overrides(true);
rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("publish_warehouse_data", node_options);
const auto logger = node->get_logger();

// time to wait in between publishing messages
double delay = 0.001;
Expand Down Expand Up @@ -141,7 +140,7 @@ int main(int argc, char** argv)
moveit_warehouse::PlanningSceneWithMetadata pswm;
if (pss.getPlanningScene(pswm, scene_name))
{
RCLCPP_INFO(LOGGER, "Publishing scene '%s'",
RCLCPP_INFO(logger, "Publishing scene '%s'",
pswm->lookupString(moveit_warehouse::PlanningSceneStorage::PLANNING_SCENE_ID_NAME).c_str());
pub_scene->publish(static_cast<const moveit_msgs::msg::PlanningScene&>(*pswm));
executor.spin_once(0ns);
Expand All @@ -154,14 +153,14 @@ int main(int argc, char** argv)
std::vector<moveit_warehouse::MotionPlanRequestWithMetadata> planning_queries;
std::vector<std::string> query_names;
pss.getPlanningQueries(planning_queries, query_names, pswm->name);
RCLCPP_INFO(LOGGER, "There are %d planning queries associated to the scene",
RCLCPP_INFO(logger, "There are %d planning queries associated to the scene",
static_cast<int>(planning_queries.size()));
rclcpp::sleep_for(500ms);
for (std::size_t i = 0; i < planning_queries.size(); ++i)
{
if (req)
{
RCLCPP_INFO(LOGGER, "Publishing query '%s'", query_names[i].c_str());
RCLCPP_INFO(logger, "Publishing query '%s'", query_names[i].c_str());
pub_req->publish(static_cast<const moveit_msgs::msg::MotionPlanRequest&>(*planning_queries[i]));
executor.spin_once(0ns);
}
Expand Down Expand Up @@ -195,7 +194,7 @@ int main(int argc, char** argv)
moveit_warehouse::ConstraintsWithMetadata cwm;
if (cs.getConstraints(cwm, cname))
{
RCLCPP_INFO(LOGGER, "Publishing constraints '%s'",
RCLCPP_INFO(logger, "Publishing constraints '%s'",
cwm->lookupString(moveit_warehouse::ConstraintsStorage::CONSTRAINTS_ID_NAME).c_str());
pub_constr->publish(static_cast<const moveit_msgs::msg::Constraints&>(*cwm));
executor.spin_once(0ns);
Expand All @@ -217,7 +216,7 @@ int main(int argc, char** argv)
moveit_warehouse::RobotStateWithMetadata rswm;
if (rs.getRobotState(rswm, rname))
{
RCLCPP_INFO(LOGGER, "Publishing state '%s'",
RCLCPP_INFO(logger, "Publishing state '%s'",
rswm->lookupString(moveit_warehouse::RobotStateStorage::STATE_NAME).c_str());
pub_state->publish(static_cast<const moveit_msgs::msg::RobotState&>(*rswm));
executor.spin_once(0ns);
Expand All @@ -227,7 +226,7 @@ int main(int argc, char** argv)
}

rclcpp::sleep_for(1s);
RCLCPP_INFO(LOGGER, "Done.");
RCLCPP_INFO(logger, "Done.");

return 0;
}
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