Fix launch file, remove spam of nav1 message in log

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Jan 7, 2025 · 506f436 · 506f436
1 parent 398749f
commit 506f436
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Showing 2 changed files with 6 additions and 7 deletions.
diff --git a/free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/nav1_robot_adapter.py
@@ -220,8 +220,7 @@ def navigate_to_pose(
         self.move_base_simple_goal_pub.put(serialized_msg.tobytes())
         self.node.get_logger().info(
             'Sending move_base_simple/goal, over zenoh topic '
-            f'[{self.move_base_simple_goal_zenoh_topic}], '
-            f'msg: [{pose_stamped}]'
+            f'[{self.move_base_simple_goal_zenoh_topic}]'
         )
 
         self._tmp_active_goal_id = None
@@ -275,7 +274,7 @@ def stop_current_navigation(self):
         self.node.get_logger().info(
             'Sending move_base/cancel, over zenoh topic '
             f'[{self.move_base_cancel_goal_zenoh_topic}], '
-            f'msg: [{goal_id}]'
+            f'goal ID: [{goal_id}]'
         )
 
     def cancel_navigation(self, goal_id_str: str):
@@ -290,7 +289,7 @@ def cancel_navigation(self, goal_id_str: str):
         self.node.get_logger().info(
             'Sending move_base/cancel, over zenoh topic '
             f'[{self.move_base_cancel_goal_zenoh_topic}], '
-            f'msg: [{goal_id}]'
+            f'goal ID: [{goal_id}]'
         )
 
 

diff --git a/free_fleet_adapter/launch/fleet_adapter.launch.xml b/free_fleet_adapter/launch/fleet_adapter.launch.xml
@@ -8,13 +8,13 @@
   <arg name="server_uri" default="" description="The URI of the api server to transmit state and task information."/>
   <arg name="output" default="screen"/>
 
-  <let name="use_sim_time_flag" if="$(var use_sim_time)" value="-sim"/>
-  <let name="use_sim_time_flag" unless="$(var use_sim_time)" value="" />
+  <let name="use_sim_time_flag" if="$(var use_sim_time)" value=" -sim"/>
+  <let name="use_sim_time_flag" unless="$(var use_sim_time)" value=""/>
 
   <!-- Fleet adapter -->
   <node pkg="free_fleet_adapter"
         exec="fleet_adapter.py"
-        args="-c $(var config_file) -n $(var nav_graph_file) -s $(var server_uri) ${var use_sim_time_flag)"
+        args="-c $(var config_file) -n $(var nav_graph_file) -s $(var server_uri)$(var use_sim_time_flag)"
         output="both">
     <param name="use_sim_time" value="$(var use_sim_time)"/>
     <param name="server_uri" value="$(var server_uri)"/>