| 9 | {} |
| 10 | |
| 11 | void RosLogger::callback(Duration timestamp, const TreeNode& node, |
| 12 | NodeStatus prev_status, NodeStatus status) |
| 13 | { |
| 14 | using namespace std::chrono; |
| 15 | |
| 16 | // get ros node pointer |
| 17 | auto ros_node = node_.lock(); |
| 18 | |
| 19 | if (ros_node) { |
| 20 | |
| 21 | constexpr const char* whitespaces = " "; |
| 22 | constexpr const size_t ws_count = 25; |
| 23 | |
| 24 | double since_epoch = duration<double>(timestamp).count(); |
| 25 | |
| 26 | RCLCPP_DEBUG( |
| 27 | ros_node->get_logger(), "[%.3f]: %s%s %s -> %s", |
| 28 | since_epoch, node.name().c_str(), |
| 29 | &whitespaces[std::min(ws_count, node.name().size())], |
| 30 | toStr(prev_status, true).c_str(), toStr(status, true).c_str()); |
| 31 | } |
| 32 | } |
| 33 | |
| 34 | void RosLogger::flush() |
| 35 | { |