test

libs/locate_system/adjust_ppk_by_locate/adjust_ppk.cpp

@@ -56,11 +56,12 @@ void AdjustPPK::ReadBag(const string &bagPath)
     for(; viewIterator != view->end();)
     {
         const rosbag::MessageInstance &m = *viewIterator;
-        LOG_EVERY_N(INFO, 1)<< setprecision(15) << "<< m.getTime(): " << m.getTime().toSec();
+        LOG_EVERY_N(INFO, 1) << setprecision(15) << "m.getTime(): " << m.getTime().toSec();
         if(!m.isType<pandar_msgs::PandarScan>()){
             viewIterator++;
             continue;
         }
+        LOG_EVERY_N(INFO, 1) << "processScan";
         PPointCloud cloud;
         if(convert_->processScan(m.instantiate<pandar_msgs::PandarScan>(), cloud)){
             OnReceivedCloud(cloud);
@@ -331,7 +332,7 @@ void AdjustPPK::LoadMap()
             Compress(meshInfo.pcdPathVec, streamPath);
             LOG(WARNING) << "mesh compressed: " << meshId;
         }else{
-            LOG(WARNING) << "mesh exists: " << meshId;
+            LOG(WARNING) << "mesh compressed: " << meshId;
         }
 
         LoadMesh(streamPath, meshInfo);

libs/locate_system/adjust_ppk_by_locate/convert.cc

@@ -435,7 +435,7 @@ 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);
 }
 
@@ -1430,7 +1430,7 @@ bool Convert::processPacket(PPointCloud& pc)
     }    
     init();
     if (0 == checkLiadaMode()) {
-      // ROS_WARN("checkLiadaMode now!!");
+       ROS_WARN("checkLiadaMode now!!");
       m_OutMsgArray[cursor]->clear();
       m_OutMsgArray[cursor]->resize(CIRCLE_ANGLE / m_iAngleSize * m_iLaserNum * m_iReturnBlockSize);
       m_PacketsBuffer.creatNewTask();