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clever.launch: change log formatting (#175)

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* clever.launch: Add node name to output format

* selfcheck: Use new log format

* aruco_pose, clever: Remove node names from messages

* aruco_pose, clever: Use nodelet-aware rosconsole macros

* clever.launch: Use logger name instead of node name

* clever.launch: change rosconsole format a little
This commit is contained in:
Alexey Rogachevskiy
2019-09-06 17:47:31 +03:00
committed by Oleg Kalachev
parent fb5f8e5078
commit 50739a3ea8
7 changed files with 41 additions and 38 deletions
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14
clever/src/vpe_publisher.cpp
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@@ -40,7 +40,7 @@ void publishZero(const ros::TimerEvent& e)
if (e.current_real - pose.header.stamp < publish_zero_timout) { // have local position
if (got_local_pos.isZero()) {
ROS_INFO("vpe_publisher: got local position");
ROS_INFO("got local position");
got_local_pos = e.current_real;
}
@@ -50,7 +50,7 @@ void publishZero(const ros::TimerEvent& e)
got_local_pos = ros::Time(0);
}
ROS_INFO_THROTTLE(10, "vpe_publisher: publish zero");
ROS_INFO_THROTTLE(10, "publish zero");
static geometry_msgs::PoseStamped zero;
zero.header.frame_id = local_frame_id;
zero.header.stamp = e.current_real;
@@ -91,7 +91,7 @@ void callback(const T& msg)
// offset.header.frame_id = vpe.header.frame_id;
offset.child_frame_id = offset_frame_id;
br.sendTransform(offset);
ROS_INFO("vpe_publisher: offset reset");
ROS_INFO("offset reset");
}
// apply the offset
tf2::doTransform(vpe, vpe, offset);
@@ -102,7 +102,7 @@ void callback(const T& msg)
vpe_pub.publish(vpe);
} catch (const tf2::TransformException& e) {
ROS_WARN_THROTTLE(5, "vpe_publisher: %s", e.what());
ROS_WARN_THROTTLE(5, "%s", e.what());
}
}
@@ -119,9 +119,9 @@ int main(int argc, char **argv) {
offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 3.0));
if (!frame_id.empty()) {
ROS_INFO("vpe_publisher: using data from TF");
ROS_INFO("using data from TF");
} else {
ROS_INFO("vpe_publisher: using data topic");
ROS_INFO("using data topic");
}
auto pose_sub = nh_priv.subscribe<PoseStamped>("pose", 1, &callback);
@@ -139,6 +139,6 @@ int main(int argc, char **argv) {
local_position_sub = nh.subscribe("mavros/local_position/pose", 1, &localPositionCallback);
}
ROS_INFO("vpe_publisher: ready");
ROS_INFO("ready");
ros::spin();
}