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UbiquityRobotics / ubiquity_motor

Package that provides a ROS interface for the motors in UbiquityRobotics robots
BSD 3-Clause "New" or "Revised" License
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Implemented power supply status estimation #173

Open ahrastnik opened 11 months ago

ahrastnik commented 11 months ago

This adds the ability to estimate the charging status, which is necessary information for autonomous charging.

Implementation details along with simulation, research data / measurements and limitations can be found here.

mjstn commented 11 months ago

I would say this is ok as long as you convert the printf to be a ROS_INFO call because if you don't we don't see this message in the log. Now maybe that printf was debug code, up to you. If it is debug code then use of ROS_DEBUG would be used if you want that debug code to be seen in the future. keep in mind that if you hammer this routine all the time ROS_INFO is bad and so is printf because it will 'spam like crazy'. In the past I have used other more tricky things like have some static counter and only do the ROS_INFO every 5 seconds worth of time or something like that.

ahrastnik commented 11 months ago

I don't think that is necessary. This code gets executed at about 7 Hz and it will spam and fill the logs if viewed at a debug level. Although, perhaps it would be wise to output only when the charging state is changed

V V sre., 11. okt. 2023 ob 10:15 je oseba Mark Johnston < @.***> napisala:

I would say this is ok as long as you convert the printf to be a ROS_INFO call because if you don't we don't see this message in the log. Now maybe that printf was debug code, up to you. If it is debug code then use of ROS_DEBUG would be used if you want that debug code to be seen in the future. keep in mind that if you hammer this routine all the time ROS_INFO is bad and so is printf because it will 'spam like crazy'. In the past I have used other more tricky things like have some static counter and only do the ROS_INFO every 5 seconds worth of time or something like that.

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