log test

Ensmasteel · Apr 26, 2024 · e52249d · e52249d
1 parent d8c9269
commit e52249d
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/omnidrive_rppico/hardware/include/omnidrive_rppico/rppico_comms.hpp b/omnidrive_rppico/hardware/include/omnidrive_rppico/rppico_comms.hpp
@@ -111,8 +111,7 @@ class RpPicoComs
     std::stringstream ss;
     ss << "m " << val_1 << " " << val_2 << " " << val_3 << " " << val_4 << "\r";
     send_msg(ss.str());
-    RCLCPP_INFO(rclcpp::get_logger("rppico_comms"), "Sent: %s", ss.str().c_str());
-  }
+    }
 
   void set_pid_values(int k_p, int k_d, int k_i, int k_o)
   {

diff --git a/src/omnidirectional_controllers/src/odometry.cpp b/src/omnidirectional_controllers/src/odometry.cpp
@@ -30,6 +30,10 @@
 
 #include "omnidirectional_controllers/types.hpp"
 
+//for the temporary log
+#include <iostream>
+
+
 namespace omnidirectional_controllers {
 
 Odometry::Odometry() {}
@@ -74,6 +78,9 @@ void Odometry::update(const std::vector<double> & wheels_vel, double dt) {
   }
   this->dt_ = dt;
   this->body_vel_ = robot_kinematics_.getBodyVelocity(wheels_vel);
+  //temporary log
+  std::cout << "body_vel_: " << body_vel_.vx << " " << body_vel_.vy << " " << body_vel_.omega << std::endl;
+
   this->integrateVelocities();
 }