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[main] More verbose logging in SimpleChargingDock #88

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Merged
SteveMacenski merged 1 commit into from
Jan 20, 2026
Merged

[main] More verbose logging in SimpleChargingDock #88

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16 changes: 13 additions & 3 deletions opennav_docking/src/simple_charging_dock.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -181,7 +181,10 @@ bool SimpleChargingDock::getRefinedPose(geometry_msgs::msg::PoseStamped & pose,
// Validate that external pose is new enough
auto timeout = rclcpp::Duration::from_seconds(external_detection_timeout_);
if (node_->now() - detected.header.stamp > timeout) {
RCLCPP_WARN(node_->get_logger(), "Lost detection or did not detect: timeout exceeded");
RCLCPP_WARN(
node_->get_logger(), "Lost detection or did not detect: "
"timeout exceeded (is %2.2f seconds old)",
static_cast<float>((node_->now() - detected.header.stamp).seconds()));
return false;
}

Expand All @@ -194,12 +197,19 @@ bool SimpleChargingDock::getRefinedPose(geometry_msgs::msg::PoseStamped & pose,
pose.header.frame_id, detected.header.frame_id,
detected.header.stamp, rclcpp::Duration::from_seconds(0.2)))
{
RCLCPP_WARN(node_->get_logger(), "Failed to transform detected dock pose");
RCLCPP_WARN(
node_->get_logger(), "Failed to transform detected dock pose: "
"cannot transform %s to %s (at time %2.2f s)",
detected.header.frame_id.c_str(),
pose.header.frame_id.c_str(),
static_cast<float>(
detected.header.stamp.sec + detected.header.stamp.nanosec * 1e-9
));
return false;
}
tf2_buffer_->transform(detected, detected, pose.header.frame_id);
} catch (const tf2::TransformException & ex) {
RCLCPP_WARN(node_->get_logger(), "Failed to transform detected dock pose");
RCLCPP_WARN(node_->get_logger(), "Failed to transform detected dock pose: %s", ex.what());
return false;
}
}
Expand Down