diff --git a/core/include/moveit/task_constructor/stage_p.h b/core/include/moveit/task_constructor/stage_p.h index 3d14731a..7e51458c 100644 --- a/core/include/moveit/task_constructor/stage_p.h +++ b/core/include/moveit/task_constructor/stage_p.h @@ -43,6 +43,8 @@ #include #include +#include + #include #include @@ -148,6 +150,7 @@ public: void newSolution(const SolutionBasePtr& solution); bool storeFailures() const { return introspection_ != nullptr; } void runCompute() { + ROS_DEBUG_STREAM_NAMED("Stage", "Computing stage '" << name() << "'"); auto compute_start_time = std::chrono::steady_clock::now(); compute(); auto compute_stop_time = std::chrono::steady_clock::now(); diff --git a/core/src/container.cpp b/core/src/container.cpp index fca9cf18..c144f114 100644 --- a/core/src/container.cpp +++ b/core/src/container.cpp @@ -640,7 +640,6 @@ void SerialContainer::compute() { if (!stage->pimpl()->canCompute()) continue; - ROS_DEBUG("Computing stage '%s'", stage->name().c_str()); stage->pimpl()->runCompute(); } catch (const Property::error& e) { stage->reportPropertyError(e);