Skip to content
GitLab
Explore
Sign in
Register
Primary navigation
Search or go to…
Project
R
roscontrol_sot
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Container Registry
Model registry
Operate
Environments
Monitor
Incidents
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
Stack Of Tasks
roscontrol_sot
Commits
9a3d5514
Commit
9a3d5514
authored
6 years ago
by
Joseph Mirabel
Committed by
Joseph Mirabel
6 years ago
Browse files
Options
Downloads
Patches
Plain Diff
Add dynamic-graph real time logger
parent
c0c4fc9f
No related branches found
Branches containing commit
Tags
v0.0.4
Tags containing commit
No related merge requests found
Changes
1
Hide whitespace changes
Inline
Side-by-side
Showing
1 changed file
src/roscontrol-sot-controller.cpp
+17
-0
17 additions, 0 deletions
src/roscontrol-sot-controller.cpp
with
17 additions
and
0 deletions
src/roscontrol-sot-controller.cpp
+
17
−
0
View file @
9a3d5514
...
...
@@ -8,6 +8,9 @@
#include
<ros/console.h>
#define ENABLE_RT_LOG
#include
<dynamic-graph/real-time-logger.h>
#if DEBUG
#define ODEBUG(x) std::cout << x << std::endl
#else
...
...
@@ -35,6 +38,14 @@
#define ODEBUG4FULL(x)
#define ODEBUG4(x)
class
LoggerROSStream
:
public
::
dynamicgraph
::
LoggerStream
{
public:
void
write
(
const
char
*
c
)
{
ROS_ERROR
(
c
);
}
};
/// lhi: nickname for local_hardware_interface
/// Depends if we are on the real robot or not.
...
...
@@ -995,6 +1006,9 @@ namespace sot_controller
void
RCSotController
::
starting
(
const
ros
::
Time
&
)
{
using
namespace
::
dynamicgraph
;
RealTimeLogger
::
instance
().
addOutputStream
(
LoggerStreamPtr_t
(
new
LoggerROSStream
()));
fillSensors
();
}
...
...
@@ -1005,6 +1019,9 @@ namespace sot_controller
RcSotLog
.
save
(
afilename
);
SotLoaderBasic
::
CleanUp
();
using
namespace
::
dynamicgraph
;
RealTimeLogger
::
destroy
();
}
std
::
string
RCSotController
::
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment