Skip to content

[nav2_behavior_tree] Reduce bt_action_node verbose #2279

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
SteveMacenski merged 2 commits into from
Mar 31, 2021
Merged

[nav2_behavior_tree] Reduce bt_action_node verbose #2279

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
2c1587e
RCLCPP_INFO to RCLCPP_DEBUG
Mar 30, 2021
fb063ed
same for bt_service_node
Mar 30, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ class BtActionNode : public BT::ActionNodeBase
createActionClient(action_name_);

// Give the derive class a chance to do any initialization
RCLCPP_INFO(node_->get_logger(), "\"%s\" BtActionNode initialized", xml_tag_name.c_str());
RCLCPP_DEBUG(node_->get_logger(), "\"%s\" BtActionNode initialized", xml_tag_name.c_str());
}

BtActionNode() = delete;
Expand All @@ -83,7 +83,7 @@ class BtActionNode : public BT::ActionNodeBase
action_client_ = rclcpp_action::create_client<ActionT>(node_, action_name);

// Make sure the server is actually there before continuing
RCLCPP_INFO(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
action_client_->wait_for_action_server();
}

Expand Down
4 changes: 2 additions & 2 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -59,12 +59,12 @@ class BtServiceNode : public BT::SyncActionNode
request_ = std::make_shared<typename ServiceT::Request>();

// Make sure the server is actually there before continuing
RCLCPP_INFO(
RCLCPP_DEBUG(
node_->get_logger(), "Waiting for \"%s\" service",
service_name_.c_str());
service_client_->wait_for_service();

RCLCPP_INFO(
RCLCPP_DEBUG(
node_->get_logger(), "\"%s\" BtServiceNode initialized",
service_node_name_.c_str());
}
Expand Down