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nav2_bt_navigator: log current location on navigate_to_pose action in… #3720

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Merged
SteveMacenski merged 1 commit into from
Jul 28, 2023
Merged

nav2_bt_navigator: log current location on navigate_to_pose action in… #3720

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9 changes: 8 additions & 1 deletion nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -203,8 +203,15 @@ NavigateToPoseNavigator::onPreempt(ActionT::Goal::ConstSharedPtr goal)
void
NavigateToPoseNavigator::initializeGoalPose(ActionT::Goal::ConstSharedPtr goal)
{
geometry_msgs::msg::PoseStamped current_pose;
nav2_util::getCurrentPose(
current_pose, *feedback_utils_.tf,
feedback_utils_.global_frame, feedback_utils_.robot_frame,
feedback_utils_.transform_tolerance);

RCLCPP_INFO(
logger_, "Begin navigating from current location to (%.2f, %.2f)",
logger_, "Begin navigating from current location (%.2f, %.2f) to (%.2f, %.2f)",
current_pose.pose.position.x, current_pose.pose.position.y,
goal->pose.pose.position.x, goal->pose.pose.position.y);

// Reset state for new action feedback
Expand Down