提交更新

ros2/TrackingRos2.cpp

@@ -26,13 +26,16 @@ namespace juefx_tracking {
         //获取yaml文件
         std::string root_dir = this->declare_parameter<std::string>("root_dir", std::string(""));
         int run_mode = this->declare_parameter<int>("run_mode", 1);
+        RCLCPP_INFO(this->get_logger(), "root_dir = %s,run_mode = %d",root_dir.c_str(),run_mode);
         if (run_mode == 1)
         {
             std::string entry_yaml = this->declare_parameter<std::string>("entry_yaml", std::string(""));
+            RCLCPP_INFO(this->get_logger(), "entry_yaml = %s",entry_yaml.c_str());
             QichechengYamlParser parser;
             int ret = parser.parse_yaml(entry_yaml, root_dir);
             if (ret != 0)return;
             m_config = parser.entry["TRACKING_YAML_NODE"];
+            RCLCPP_INFO(this->get_logger(), "entry_yaml finish");
         }
         else
         {
@@ -43,6 +46,7 @@ namespace juefx_tracking {
         m_tracking.Init(root_dir,m_config,[=](objTrackListPtr objsPtr){
             TrackingPorcess(objsPtr);
         });
+        RCLCPP_INFO(this->get_logger(), "load yaml finish");
     }
 
 TrackingRos2::~TrackingRos2() {}