From a4f310a76821d821f69b495ce53f2741dfbffe6e Mon Sep 17 00:00:00 2001 From: mhubii Date: Fri, 8 Dec 2023 11:36:32 +0000 Subject: [PATCH] improved log --- lbr_fri_ros2/src/command_interface.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/lbr_fri_ros2/src/command_interface.cpp b/lbr_fri_ros2/src/command_interface.cpp index df82f164..9ff16367 100644 --- a/lbr_fri_ros2/src/command_interface.cpp +++ b/lbr_fri_ros2/src/command_interface.cpp @@ -119,11 +119,11 @@ void CommandInterface::init_command(const_fri_state_t_ref state) { void CommandInterface::log_info() const { command_guard_->log_info(); RCLCPP_INFO(rclcpp::get_logger(LOGGER_NAME), "*** Parameters:"); - RCLCPP_INFO(rclcpp::get_logger(LOGGER_NAME), "* pid.p: %f", pid_parameters_.p); - RCLCPP_INFO(rclcpp::get_logger(LOGGER_NAME), "* pid.i: %f", pid_parameters_.i); - RCLCPP_INFO(rclcpp::get_logger(LOGGER_NAME), "* pid.d: %f", pid_parameters_.d); - RCLCPP_INFO(rclcpp::get_logger(LOGGER_NAME), "* pid.i_max: %f", pid_parameters_.i_max); - RCLCPP_INFO(rclcpp::get_logger(LOGGER_NAME), "* pid.i_min: %f", pid_parameters_.i_min); + RCLCPP_INFO(rclcpp::get_logger(LOGGER_NAME), "* pid.p: %.1f", pid_parameters_.p); + RCLCPP_INFO(rclcpp::get_logger(LOGGER_NAME), "* pid.i: %.1f", pid_parameters_.i); + RCLCPP_INFO(rclcpp::get_logger(LOGGER_NAME), "* pid.d: %.1f", pid_parameters_.d); + RCLCPP_INFO(rclcpp::get_logger(LOGGER_NAME), "* pid.i_max: %.1f", pid_parameters_.i_max); + RCLCPP_INFO(rclcpp::get_logger(LOGGER_NAME), "* pid.i_min: %.1f", pid_parameters_.i_min); RCLCPP_INFO(rclcpp::get_logger(LOGGER_NAME), "* pid.antiwindup: %s", pid_parameters_.antiwindup ? "true" : "false"); }