Add roslog INFO traces to measure time spent initializing PTGs

mrpt-ros-pkg · Sep 23, 2024 · a972d29 · a972d29
1 parent 3d7521c
commit a972d29
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/mrpt_tps_astar_planner/src/mrpt_tps_astar_planner_node.cpp b/mrpt_tps_astar_planner/src/mrpt_tps_astar_planner_node.cpp
@@ -503,8 +503,12 @@ void TPS_Astar_Planner_Node::initialize_planner()
 		this->get_logger(), "Loaded these planner params:" << planner_->params_as_yaml());
 
 	mrpt::config::CConfigFile cfg(ptg_ini_file_);
+	RCLCPP_INFO_STREAM(this->get_logger(), "Initializing PTGs...");
+
 	ptgs_.initFromConfigFile(cfg, "SelfDriving");
 
+	RCLCPP_INFO_STREAM(this->get_logger(), "PTGs initialized.");
+
 	costMapParams_ = mpp::CostEvaluatorCostMap::Parameters::FromYAML(
 		mrpt::containers::yaml::FromFile(costmap_params_file_));
 }