test

libs/locate_system/adjust_ppk_by_locate/convert.cc

@@ -209,6 +209,7 @@ bool Convert::processScan(
     for (size_t next = 0; next < scanMsg->packets.size(); ++next) {
         pushLiDARData(scanMsg->packets[next]);
     }
+    LOG(INFO) << "processPacket";
     return processPacket(pc);
 }
 
@@ -436,7 +437,7 @@ void Convert::processGps(pandar_msgs::PandarGps &gpsMsg) {
 }
 
 void Convert::pushLiDARData(pandar_msgs::PandarPacket packet) {
-    ROS_WARN("Convert::pushLiDARData");
+//    ROS_WARN("Convert::pushLiDARData");
   m_PacketsBuffer.push_back(packet);
 }
 
@@ -1426,9 +1427,11 @@ bool Convert::processPacket(PPointCloud& pc)
     static int pktCount = 0;
     static int cursor = 0;
     if (!m_PacketsBuffer.hasEnoughPackets()) {
+        LOG(INFO) << "!m_PacketsBuffer.hasEnoughPackets()";
 //      usleep(1000);
       return false;
     }    
+    LOG(INFO) << "init";
     init();
     if (0 == checkLiadaMode()) {
        ROS_WARN("checkLiadaMode now!!");