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usdot-fhwa-stol · Aug 2, 2023 · cf5f089 · cf5f089
1 parent e605601
commit cf5f089
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/carma_wm_ctrl/config/parameters.yaml b/carma_wm_ctrl/config/parameters.yaml
@@ -10,4 +10,4 @@ traffic_control_request_period: 3.0
 intersection_ids_for_correction: [9945, 9001]
 
 #List of Double: Every 2 element describes coordinate correction [delta_x, delta_y] for each intersection_id in intersection_ids_for_correction in same order
-intersection_coord_correction: [0.0, -1.5, 2.5, 1.0]
+intersection_coord_correction: [0.0, -1.5, -0.5, -1.0]
diff --git a/carma_wm_ctrl/src/WMBroadcasterNode.cpp b/carma_wm_ctrl/src/WMBroadcasterNode.cpp
@@ -76,14 +76,18 @@ void WMBroadcasterNode::initializeWorker(std::weak_ptr<carma_ros2_utils::CarmaLi
 
 carma_ros2_utils::CallbackReturn WMBroadcasterNode::handle_on_configure(const rclcpp_lifecycle::State &)
 {
-  RCLCPP_INFO_STREAM(rclcpp::get_logger("carma_mw_ctrl"),"Starting configuration!");
+  RCLCPP_INFO_STREAM(rclcpp::get_logger("carma_wm_ctrl"),"Starting configuration!");
+  RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm_ctrl"),"Starting configuration!");
+
 
   // Reset config
   config_ = Config();
 
   initializeWorker(shared_from_this());
 
-  RCLCPP_INFO_STREAM(rclcpp::get_logger("carma_mw_ctrl"),"Done initializing worker!");
+  RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm_ctrl"),"Done initializing worker!");
+  RCLCPP_INFO_STREAM(rclcpp::get_logger("carma_wm_ctrl"),"Done initializing worker!");
+
 
   get_parameter<int>("ack_pub_times", config_.ack_pub_times);
   get_parameter<double>("max_lane_width", config_.max_lane_width);
@@ -106,7 +110,7 @@ carma_ros2_utils::CallbackReturn WMBroadcasterNode::handle_on_configure(const rc
 
   wmb_->setIntersectionCoordCorrection(config_.intersection_ids_for_correction, config_.intersection_coord_correction);
 
-  RCLCPP_INFO_STREAM(rclcpp::get_logger("carma_mw_ctrl"),"Done loading parameters: " << config_);
+  RCLCPP_INFO_STREAM(rclcpp::get_logger("carma_wm_ctrl"),"Done loading parameters: " << config_);
 
   /////////////
   // PUBLISHERS