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Port graph printing on optimization failures from ROS1 to ROS2 #332

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Port graph printing on optimization failures from ROS1 to ROS2 #332

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17 changes: 11 additions & 6 deletions fuse_optimizers/src/fixed_lag_smoother.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -253,23 +253,28 @@ void FixedLagSmoother::optimizationLoop()
// Optimize the entire graph
summary_ = graph_->optimize(params_.solver_options);

// Optimization is complete. Notify all the things about the graph changes.
const auto new_transaction_stamp = new_transaction->stamp();
notify(std::move(new_transaction), graph_->clone());

// Abort if optimization failed. Not converging is not a failure because the solution found is
// usable.
if (!summary_.IsSolutionUsable()) {
std::ostringstream oss;
oss << "Graph:\n";
graph_->print(oss);
oss << "\nTransaction:\n";
new_transaction->print(oss);

RCLCPP_FATAL_STREAM(
logger_,
"Optimization failed after updating the graph with the transaction with timestamp "
<< new_transaction_stamp.nanoseconds() <<
". Leaving optimization loop and requesting node shutdown...");
<< new_transaction->stamp().nanoseconds() <<
". Leaving optimization loop and requesting node shutdown...\n" << oss.str());
RCLCPP_INFO(logger_, summary_.FullReport().c_str());
rclcpp::shutdown();
break;
}

// Optimization is complete. Notify all the things about the graph changes.
notify(std::move(new_transaction), graph_->clone());

// Compute a transaction that marginalizes out those variables.
lag_expiration_ = computeLagExpirationTime();
marginal_transaction_ = fuse_constraints::marginalizeVariables(
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