add: code to turn on loop time printing on/off conditionally

automata_navigation_remapped.sh

@@ -1,4 +1,11 @@
 #!/bin/bash
-./bin/navigation \
+
+if [ -z "$VERBOSE" ]; then
+    VERBOSE=0
+fi
+
+echo verbose=$VERBOSE
+
+VERBOSE=$VERBOSE ./bin/navigation \
 	/velodyne_2dscan:=/scan \
 	/jackal_velocity_controller/odom:=/odom

src/navigation/navigation.cc

@@ -172,6 +172,15 @@ void Navigation::Initialize(const NavigationParameters& params,
     exit(1);
   }
   evaluator_ = std::unique_ptr<PathEvaluatorBase>(evaluator);
+
+  const char* verbosity = std::getenv("VERBOSE");
+  if(verbosity == nullptr) verbose_logging = false;
+  else {
+    std::string verbosity_str = std::string(verbosity);
+    if(verbosity_str == "1") verbose_logging=true;
+    else verbose_logging=false;
+  }
+
 }
 
 bool Navigation::Enabled() const {
@@ -962,11 +971,13 @@ bool Navigation::Run(const double& time, Vector2f& cmd_vel, float& cmd_angle_vel
   auto end_run_loop = std::chrono::system_clock::now();
   std::chrono::duration<double, std::milli> time_diff = end_run_loop - start_run_loop;
 
-  printf(
-    "LOOP: %ld,%f\n", 
-    std::chrono::duration_cast<std::chrono::milliseconds>(start_run_loop.time_since_epoch()).count(),
-    time_diff.count()
-  );
+  if(verbose_logging) {
+    printf(
+      "LOOP: %ld,%f\n", 
+      std::chrono::duration_cast<std::chrono::milliseconds>(start_run_loop.time_since_epoch()).count(),
+      time_diff.count()
+    );
+  }
   return retval;
 }
 

src/navigation/navigation.h

@@ -146,7 +146,8 @@ class Navigation {
   const cv::Mat& GetVisualizationImage();
   std::vector<std::shared_ptr<motion_primitives::PathRolloutBase>> GetLastPathOptions();
   std::shared_ptr<motion_primitives::PathRolloutBase> GetOption();
-
+  bool verbose_logging;
+
  private:
 
   // Test 1D TOC motion in a straight line.