fix(log-messages): reduce excessive log messages in velodyne decoder (#…

…118) * fix(log-messages): lower some info message to debug * fix(log-messages): removing leftover std::cout log from from the original Velodyne implementation Signed-off-by: AhmedEbrahim <[email protected]> --------- Signed-off-by: AhmedEbrahim <[email protected]>
tier4 · Mar 29, 2024 · dd31cc3 · dd31cc3
1 parent cb3c56a
commit dd31cc3
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Showing 4 changed files with 7 additions and 14 deletions.
diff --git a/nebula_common/include/nebula_common/velodyne/velodyne_calibration_decoder.hpp b/nebula_common/include/nebula_common/velodyne/velodyne_calibration_decoder.hpp
@@ -59,15 +59,14 @@ class VelodyneCalibration
   std::vector<VelodyneLaserCorrection> laser_corrections;
   int num_lasers{};
   bool initialized;
-  bool ros_info;
 
 public:
-  explicit VelodyneCalibration(bool info = true)
-  : distance_resolution_m(0.002f), initialized(false), ros_info(info)
+  explicit VelodyneCalibration()
+  : distance_resolution_m(0.002f), initialized(false)
   {
   }
-  explicit VelodyneCalibration(const std::string & calibration_file, bool info = true)
-  : distance_resolution_m(0.002f), ros_info(info)
+  explicit VelodyneCalibration(const std::string & calibration_file)
+  : distance_resolution_m(0.002f)
   {
     read(calibration_file);
   }

diff --git a/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp b/nebula_common/src/velodyne/velodyne_calibration_decoder.cpp
@@ -162,10 +162,6 @@ void operator>>(const YAML::Node & node, VelodyneCalibration & calibration)
       // store this ring number with its corresponding laser number
       calibration.laser_corrections[next_index].laser_ring = ring;
       next_angle = min_seen;
-      if (calibration.ros_info) {
-        std::cout << "laser_ring[" << next_index << "] =" << ring << ", angle = " << next_angle
-                  << std::endl;
-      }
     }
   }
 }

diff --git a/nebula_decoders/src/nebula_decoders_velodyne/velodyne_driver.cpp b/nebula_decoders/src/nebula_decoders_velodyne/velodyne_driver.cpp
@@ -14,8 +14,6 @@ VelodyneDriver::VelodyneDriver(
 {
   // initialize proper parser from cloud config's model and echo mode
   driver_status_ = nebula::Status::OK;
-  std::cout << "sensor_configuration->sensor_model=" << sensor_configuration->sensor_model
-            << std::endl;
   switch (sensor_configuration->sensor_model) {
     case SensorModel::UNKNOWN:
       driver_status_ = nebula::Status::INVALID_SENSOR_MODEL;

diff --git a/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp b/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
@@ -15,19 +15,19 @@ VelodyneDriverRosWrapper::VelodyneDriverRosWrapper(const rclcpp::NodeOptions & o
     RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
     return;
   }
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
+  RCLCPP_DEBUG_STREAM(this->get_logger(), this->get_name() << ". Starting...");
 
   calibration_cfg_ptr_ =
     std::make_shared<drivers::VelodyneCalibrationConfiguration>(calibration_configuration);
 
   sensor_cfg_ptr_ = std::make_shared<drivers::VelodyneSensorConfiguration>(sensor_configuration);
 
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver ");
+  RCLCPP_DEBUG_STREAM(this->get_logger(), this->get_name() << ". Driver ");
   wrapper_status_ = InitializeDriver(
     std::const_pointer_cast<drivers::SensorConfigurationBase>(sensor_cfg_ptr_),
     std::static_pointer_cast<drivers::CalibrationConfigurationBase>(calibration_cfg_ptr_));
 
-  RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
+  RCLCPP_DEBUG_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_);
 
   velodyne_scan_sub_ = create_subscription<velodyne_msgs::msg::VelodyneScan>(
     "velodyne_packets", rclcpp::SensorDataQoS(),