- adding ROS_DEBUG messages to base core classes

include/iri_base_algorithm/iri_base_algorithm.h

@@ -298,7 +298,7 @@ IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm() :
   diagnostic_(),
   dsrv_(private_node_handle_)
 {
-  ROS_DEBUG("IRI Base Algorithm Constructor");
+  ROS_DEBUG("IriBaseAlgorithm::Constructor");
   // create thread server instance
   this->thread_server_  = CThreadServer::instance();
 
@@ -317,7 +317,7 @@ IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm() :
 template <class Algorithm>
 IriBaseAlgorithm<Algorithm>::~IriBaseAlgorithm()
 {
-  ROS_DEBUG("IRI Base Algorithm Destructor");
+  ROS_DEBUG("IriBaseAlgorithm::Destructor");
 
   this->thread_server_->kill_thread(this->main_thread_id_);
 }
@@ -325,23 +325,22 @@ IriBaseAlgorithm<Algorithm>::~IriBaseAlgorithm()
 template <class Algorithm>
 void IriBaseAlgorithm<Algorithm>::reconfigureCallback(Config &config, uint32_t level)
 {
-  ROS_INFO("IriBaseAlgorithm::reconfigureCallback");
+  ROS_DEBUG("IriBaseAlgorithm::reconfigureCallback");
   this->node_config_update(config, level);
-  ROS_INFO("IriBaseAlgorithm::reconfigureCallback: node_config_update");
   this->alg_.config_update(config, level);
-  ROS_INFO("IriBaseAlgorithm::reconfigureCallback: alg_.config_update");
 }
 
 template <class Algorithm>
 void IriBaseAlgorithm<Algorithm>::addDiagnostics(void)
 {
+  ROS_DEBUG("IriBaseAlgorithm::addDiagnostics");
   addNodeDiagnostics();
 }
 
 template <class Algorithm>
 void *IriBaseAlgorithm<Algorithm>::mainThread(void *param)
 {
-  ROS_DEBUG("IRI Base Algorithm mainThread");
+  ROS_DEBUG("IriBaseAlgorithm::mainThread");
 
   // retrieve base algorithm class
   IriBaseAlgorithm *iriNode = (IriBaseAlgorithm *)param;
@@ -362,7 +361,7 @@ void *IriBaseAlgorithm<Algorithm>::mainThread(void *param)
 template <class Algorithm>
 int IriBaseAlgorithm<Algorithm>::spin(void)
 {
-  ROS_DEBUG("IRI Base Algorithm spin");
+  ROS_DEBUG("IriBaseAlgorithm::spin");
 
   // initialize diagnostics
   this->diagnostic_.setHardwareID("none");
@@ -413,7 +412,7 @@ int AbstractAlgorithmNode::ctrl_c_hit_count_ = 0;
 template <class AlgImplTempl>
 int main(int argc, char **argv, std::string node_name)
 {
-  ROS_DEBUG("IRI Base Algorithm %s Launched", node_name.c_str());
+  ROS_DEBUG("IriBaseAlgorithm::%s Launched", node_name.c_str());
 
   // ROS initialization
   ros::init(argc, argv, node_name);