Invoke OMPL debug print only when debug logging is enabled (backport #…

…2608) (#2762) --------- Co-authored-by: Igor Medvedev <[email protected]> Co-authored-by: Sebastian Castro <[email protected]>
moveit · Mar 21, 2024 · 01c86ec · 01c86ec
1 parent 44a2edb
commit 01c86ec
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -755,9 +755,13 @@ void ompl_interface::ModelBasedPlanningContext::postSolve()
   RCLCPP_DEBUG(LOGGER, "There were %d valid motions and %d invalid motions.", v, iv);
 
   // Debug OMPL setup and solution
-  std::stringstream debug_out;
-  ompl_simple_setup_->print(debug_out);
-  RCLCPP_DEBUG(LOGGER, "%s", rclcpp::get_c_string(debug_out.str()));
+  RCLCPP_DEBUG(LOGGER, "%s",
+               [&] {
+                 std::stringstream debug_out;
+                 ompl_simple_setup_->print(debug_out);
+                 return debug_out.str();
+               }()
+                   .c_str());
 }
 
 bool ompl_interface::ModelBasedPlanningContext::solve(planning_interface::MotionPlanResponse& res)