From c673d9fcb3b1bf5711b2ba00e9fc904499c6698c Mon Sep 17 00:00:00 2001
From: David Murdoch <dmurdoch@locusrobotics.com>
Date: Thu, 13 Jun 2024 10:10:41 -0400
Subject: [PATCH] Adding some logging to fuse

---
 fuse_optimizers/src/fixed_lag_smoother.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/fuse_optimizers/src/fixed_lag_smoother.cpp b/fuse_optimizers/src/fixed_lag_smoother.cpp
index 0fd47ab13..8e423ed82 100644
--- a/fuse_optimizers/src/fixed_lag_smoother.cpp
+++ b/fuse_optimizers/src/fixed_lag_smoother.cpp
@@ -456,14 +456,17 @@ bool FixedLagSmoother::startServiceCallback(std_srvs::Empty::Request&, std_srvs:
 
 void FixedLagSmoother::start()
 {
+  ROS_INFO_STREAM("Starting optimizer.");
   // Tell all the plugins to start
   startPlugins();
   // Test for auto-start
   autostart();
+  ROS_INFO_STREAM("Starting optimizer complete.");
 }
 
 void FixedLagSmoother::stop()
 {
+  ROS_INFO_STREAM("Stopping optimizer.");
   // Tell all the plugins to stop
   stopPlugins();
   // Reset the optimizer state
@@ -490,6 +493,7 @@ void FixedLagSmoother::stop()
     timestamp_tracking_.clear();
     lag_expiration_ = ros::Time(0, 0);
   }
+  ROS_INFO_STREAM("Optimizer stopping complete.");
 }
 
 void FixedLagSmoother::transactionCallback(