reducing verbosity

source/RobotAPI/libraries/armem_laser_scans/client/common/Reader.cpp

@@ -140,7 +140,6 @@ namespace armarx::armem::laser_scans::client
             ARMARX_CHECK_NOT_NULL(ndArrayNavigator);
 
             laserScanStamped.data = fromAron<LaserScanStep>(ndArrayNavigator);
-            ARMARX_IMPORTANT << "4";
 
             return laserScanStamped;
         };

source/RobotAPI/libraries/armem_laser_scans/server/Visu.cpp

@@ -117,7 +117,7 @@ namespace armarx::armem::server::laser_scans
     {
         viz::PointCloud pointCloud("laser_scan");
 
-        ARMARX_INFO << "Point cloud with " << points.size() << " points";
+        ARMARX_VERBOSE << "Point cloud with " << points.size() << " points";
 
         for (const auto& point : points)
         {
@@ -214,7 +214,7 @@ namespace armarx::armem::server::laser_scans
             laserScanStamped.data =
                 armarx::armem::laser_scans::fromAron<LaserScanStep>(ndArrayNavigator);
 
-            ARMARX_INFO << "Number of steps: " << laserScanStamped.data.size();
+            ARMARX_VERBOSE << "Number of steps: " << laserScanStamped.data.size();
 
             return laserScanStamped;
         };
@@ -244,7 +244,7 @@ namespace armarx::armem::server::laser_scans
 
         coreSegment->forEachProviderSegment(applyToProviderSegment);
 
-        ARMARX_INFO << scans.size() << " scans";
+        ARMARX_VERBOSE << scans.size() << " scans";
         return scans;
     }
 
@@ -258,20 +258,22 @@ namespace armarx::armem::server::laser_scans
 
         for (const auto& [provider, scan] : currentLaserScans)
         {
-            ARMARX_INFO << "Visualizing `" << provider << "`";
+            ARMARX_VERBOSE << "Visualizing `" << provider << "`";
 
             const auto global_T_sensor = [&]() ->  Eigen::Isometry3f{
 
                 const auto robot = getSynchronizedRobot(scan.header.agent, scan.header.timestamp);
                 if(not robot)
                 {
-                    ARMARX_INFO << deactivateSpam(1) << "Robot `" << scan.header.agent << "`" << "not available";
+                    ARMARX_VERBOSE << deactivateSpam(1) << "Robot `" << scan.header.agent << "`" << "not available";
                     return Eigen::Isometry3f::Identity();
                 }
 
                 const auto sensorNode = robot->getRobotNode(scan.header.frame);
                 ARMARX_CHECK_NOT_NULL(sensorNode) << "No robot node `" << scan.header.frame
                                                 << "` for robot `" << scan.header.agent << "`";
+
+                ARMARX_VERBOSE << "Sensor position for sensor `" << scan.header.frame << "` is " << sensorNode->getGlobalPosition();
                 return Eigen::Isometry3f{sensorNode->getGlobalPose()};
             }();
 
@@ -312,7 +314,7 @@ namespace armarx::armem::server::laser_scans
 
         if(not virtualRobotReader->synchronizeRobot(*robot, timestamp))
         {
-            ARMARX_INFO << "Faield to synchronize robot `" << name << "`";
+            ARMARX_VERBOSE << "Faield to synchronize robot `" << name << "`";
         }
 
         return robots.at(name);