Adding some logging to fuse

DavidLocus · DavidLocus · commit c673d9fcb3b1 · 2024-06-13T10:10:41.000-04:00
diff --git a/fuse_optimizers/src/fixed_lag_smoother.cpp b/fuse_optimizers/src/fixed_lag_smoother.cpp
@@ -456,14 +456,17 @@ bool FixedLagSmoother::startServiceCallback(std_srvs::Empty::Request&, std_srvs:
 
 void FixedLagSmoother::start()
 {
+  ROS_INFO_STREAM("Starting optimizer.");
   // Tell all the plugins to start
   startPlugins();
   // Test for auto-start
   autostart();
+  ROS_INFO_STREAM("Starting optimizer complete.");
 }
 
 void FixedLagSmoother::stop()
 {
+  ROS_INFO_STREAM("Stopping optimizer.");
   // Tell all the plugins to stop
   stopPlugins();
   // Reset the optimizer state
@@ -490,6 +493,7 @@ void FixedLagSmoother::stop()
     timestamp_tracking_.clear();
     lag_expiration_ = ros::Time(0, 0);
   }
+  ROS_INFO_STREAM("Optimizer stopping complete.");
 }
 
 void FixedLagSmoother::transactionCallback(

Original file line number	Diff line number	Diff line change
`@@ -456,14 +456,17 @@ bool FixedLagSmoother::startServiceCallback(std_srvs::Empty::Request&, std_srvs:`
`456`	`456`
`457`	`457`	`void FixedLagSmoother::start()`
`458`	`458`	`{`
	`459`	`+ ROS_INFO_STREAM("Starting optimizer.");`
`459`	`460`	`// Tell all the plugins to start`
`460`	`461`	`startPlugins();`
`461`	`462`	`// Test for auto-start`
`462`	`463`	`autostart();`
	`464`	`+ ROS_INFO_STREAM("Starting optimizer complete.");`
`463`	`465`	`}`
`464`	`466`
`465`	`467`	`void FixedLagSmoother::stop()`
`466`	`468`	`{`
	`469`	`+ ROS_INFO_STREAM("Stopping optimizer.");`
`467`	`470`	`// Tell all the plugins to stop`
`468`	`471`	`stopPlugins();`
`469`	`472`	`// Reset the optimizer state`
`@@ -490,6 +493,7 @@ void FixedLagSmoother::stop()`
`490`	`493`	`timestamp_tracking_.clear();`
`491`	`494`	`lag_expiration_ = ros::Time(0, 0);`
`492`	`495`	`}`
	`496`	`+ ROS_INFO_STREAM("Optimizer stopping complete.");`
`493`	`497`	`}`
`494`	`498`
`495`	`499`	`void FixedLagSmoother::transactionCallback(`