From c1e7713e06dfae5a31dc0992ed9b83274ce80614 Mon Sep 17 00:00:00 2001 From: Christian Henkel <6976069+ct2034@users.noreply.github.com> Date: Wed, 9 Aug 2023 19:11:06 +0200 Subject: [PATCH] Adding uid to log msg (#3750) * adding uid to the logged message Signed-off-by: Christian Henkel * less changes Signed-off-by: Christian Henkel --------- Signed-off-by: Christian Henkel --- .../include/nav2_behavior_tree/ros_topic_logger.hpp | 1 + nav2_msgs/msg/BehaviorTreeStatusChange.msg | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp index d71a57bc04..0e14a59ee8 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp @@ -69,6 +69,7 @@ class RosTopicLogger : public BT::StatusChangeLogger // before converting to a msg. event.timestamp = tf2_ros::toMsg(tf2::TimePoint(timestamp)); event.node_name = node.name(); + event.uid = node.UID(); event.previous_status = toStr(prev_status, false); event.current_status = toStr(status, false); event_log_.push_back(std::move(event)); diff --git a/nav2_msgs/msg/BehaviorTreeStatusChange.msg b/nav2_msgs/msg/BehaviorTreeStatusChange.msg index 01cd812c6f..4fa5076eac 100644 --- a/nav2_msgs/msg/BehaviorTreeStatusChange.msg +++ b/nav2_msgs/msg/BehaviorTreeStatusChange.msg @@ -1,4 +1,5 @@ -builtin_interfaces/Time timestamp # internal behavior tree event timestamp. Typically this is wall clock time +builtin_interfaces/Time timestamp # internal behavior tree event timestamp. Typically this is wall clock time string node_name +uint16 uid # unique ID for this node string previous_status # IDLE, RUNNING, SUCCESS or FAILURE string current_status # IDLE, RUNNING, SUCCESS or FAILURE