logging

source/armarx/navigation/server/Navigator.cpp

@@ -796,13 +796,13 @@ namespace armarx::navigation::server
         if (isPaused() or isStopped())
         {
             // [[unlikely]]
-            ARMARX_INFO << deactivateSpam(1) << "stopped or paused";
+            ARMARX_DEBUG << deactivateSpam(1) << "stopped or paused";
             return;
         }
 
         if (not isStackResultValid())
         {
-            ARMARX_INFO << deactivateSpam(1) << "stack result invalid";
+            ARMARX_DEBUG << deactivateSpam(1) << "stack result invalid";
             // [[unlikely]]
             return;
         }
@@ -912,7 +912,7 @@ namespace armarx::navigation::server
         {
             if (not globalPlan.has_value())
             {
-                ARMARX_WARNING << deactivateSpam(1) << "Global trajectory not yet set.";
+                ARMARX_DEBUG << deactivateSpam(1) << "Global trajectory not yet set.";
                 return false;
             }
         }
@@ -922,7 +922,7 @@ namespace armarx::navigation::server
         {
             if (not localPlan.has_value())
             {
-                ARMARX_WARNING << deactivateSpam(1) << "Local trajectory not yet set.";
+                ARMARX_DEBUG << deactivateSpam(1) << "Local trajectory not yet set.";
                 return false;
             }
         }
@@ -932,7 +932,7 @@ namespace armarx::navigation::server
         {
             if (not trajectoryCtrlResult.has_value())
             {
-                ARMARX_WARNING << deactivateSpam(1) << "Raw control velocity not yet set.";
+                ARMARX_DEBUG << deactivateSpam(1) << "Raw control velocity not yet set.";
                 return false;
             }
         }
@@ -942,7 +942,7 @@ namespace armarx::navigation::server
         {
             if (not safetyCtrlResult.has_value())
             {
-                ARMARX_WARNING << deactivateSpam(1) << "Safe velocity not yet set.";
+                ARMARX_DEBUG << deactivateSpam(1) << "Safe velocity not yet set.";
                 return false;
             }
         }

source/armarx/navigation/server/monitoring/GoalReachedMonitor.cpp

@@ -76,6 +76,7 @@ namespace armarx::navigation::server
         goal_{other.goal_}, scene{other.scene}, config(other.config)
     {
     }
+
     GoalReachedMonitor&
     GoalReachedMonitor::operator=(GoalReachedMonitor&& /*unused*/) noexcept
     {

source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.cpp

@@ -60,7 +60,7 @@ namespace armarx::navigation::statecharts::navigation_group
     void
     NavigateToLocation::run()
     {
-        ARMARX_INFO << "Navigating to location `" << in.getlocation() << "`";
+        ARMARX_IMPORTANT << "Navigating to location `" << in.getlocation() << "`";
 
         // parameterize the navigation stack
         client::NavigationStackConfig cfg;
@@ -77,6 +77,7 @@ namespace armarx::navigation::statecharts::navigation_group
         client::MemorySubscriber memorySubscriber(GetName(), mns);
 
         // register our config
+        ARMARX_INFO << "Registering config";
         iceNavigator.createConfig(cfg, GetName());
 
         client::Navigator navigator{client::Navigator::InjectedServices{
@@ -87,6 +88,7 @@ namespace armarx::navigation::statecharts::navigation_group
         builder.add(in.getlocation(), client::GlobalPlanningStrategy::Free);
 
         // execute
+        ARMARX_INFO << "Sending navigation request";
         navigator.moveTo(builder, core::NavigationFrame::Absolute);
 
         // Wait until goal is reached