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Adding uid to log msg #3750

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Merged
SteveMacenski merged 3 commits into from
Aug 9, 2023
Merged

Adding uid to log msg #3750

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836f282
adding uid to the logged message
ct2034 Feb 16, 2023
c3636ad
Merge branch 'main' into add/uid_in_log_msg
ct2034 Aug 9, 2023
2aaa9b1
less changes
ct2034 Aug 9, 2023
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1 change: 1 addition & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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));
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3 changes: 2 additions & 1 deletion nav2_msgs/msg/BehaviorTreeStatusChange.msg
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@@ -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