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Error output from esmini to log #593

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merged 1 commit into from
Sep 29, 2023
Merged

Error output from esmini to log #593

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2 changes: 1 addition & 1 deletion launch/launch_utils/validate_files.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ def validate_certs(directory_path):

def validate_files():
atos_dir = os.path.join(os.path.expanduser('~'), '.astazero', 'ATOS')
dirs_to_validate = ["conf", "pointclouds"]
dirs_to_validate = ["conf", "pointclouds", "logs"]
for dir_to_validate in dirs_to_validate:
validate_directory(atos_dir / Path(dir_to_validate))

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4 changes: 3 additions & 1 deletion modules/EsminiAdapter/src/esminiadapter.cpp
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Expand Up @@ -524,11 +524,13 @@ void EsminiAdapter::InitializeEsmini()
me->idToIp.clear();
me->pathPublishers.clear();
me->gnssPathPublishers.clear();
auto logFilePath = std::string(getenv("HOME")) + std::string("/.astazero/ATOS/logs/esmini.log");
SE_SetLogFilePath(logFilePath.c_str());
SE_Close(); // Stop ScenarioEngine in case it is running

RCLCPP_INFO(me->get_logger(), "Initializing esmini with scenario file %s", me->oscFilePath.c_str());
if (SE_Init(me->oscFilePath.c_str(),1,0,0,0) < 0) { // Disable controllers, let DefaultController be used
throw std::runtime_error("Failed to initialize esmini with scenario file " + me->oscFilePath.string());
throw std::runtime_error("Failed to initialize esmini with scenario file " + me->oscFilePath.string() + ". For more information, see " + logFilePath + ".");
}

for (int j = 0; j < SE_GetNumberOfObjects(); j++){
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