From d451b78e9664cae8918a4f7f54694d92979f2978 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 12 Jun 2023 15:36:37 +0200 Subject: [PATCH] extra log msg --- src/drone_controls/src/PositionChanger.cpp | 2 +- src/drone_controls/test/test_positionchanger_lidar.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/drone_controls/src/PositionChanger.cpp b/src/drone_controls/src/PositionChanger.cpp index 0f04e238..9e5b0f95 100644 --- a/src/drone_controls/src/PositionChanger.cpp +++ b/src/drone_controls/src/PositionChanger.cpp @@ -275,7 +275,7 @@ public: : (MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RL], this->lidar_sensor_values[LIDAR_SENSOR_RR])); collision_prevention_weights[MOVE_DIRECTION_RIGHT] = this->move_direction_allowed[MOVE_DIRECTION_RIGHT] ? 0 : -(MIN_DISTANCE - std::min(this->lidar_sensor_values[LIDAR_SENSOR_RR], this->lidar_sensor_values[LIDAR_SENSOR_FR])); - + RCLCPP_INFO(this->get_logger(), "Collision prevention weights: %f, %f, %f, %f", collision_prevention_weights[MOVE_DIRECTION_FRONT], collision_prevention_weights[MOVE_DIRECTION_LEFT], collision_prevention_weights[MOVE_DIRECTION_BACK], collision_prevention_weights[MOVE_DIRECTION_RIGHT]); apply_collision_weights(); } diff --git a/src/drone_controls/test/test_positionchanger_lidar.py b/src/drone_controls/test/test_positionchanger_lidar.py index 04b4d3d8..ce06a1c9 100644 --- a/src/drone_controls/test/test_positionchanger_lidar.py +++ b/src/drone_controls/test/test_positionchanger_lidar.py @@ -99,7 +99,7 @@ class TestPositionChanger(unittest.TestCase): if not self.called_positionchanger_service: future = move_position_client.call_async(request) future.add_done_callback(self.move_position_callback) - launch_testing.asserts.assertInStdout(proc_output, "Collision prevention front", 'px4_controller-3') + launch_testing.asserts.assertInStderr(proc_output, "Collision prevention front", 'px4_controller-3') finally: self.node.destroy_client(move_position_client) self.node.destroy_publisher(lidar_publisher) \ No newline at end of file