diff --git a/rotational_recovery/src/rotational_recovery.cpp b/rotational_recovery/src/rotational_recovery.cpp
index a2864c10467dac2a99df8494a1fef819843e6ff3..edc43487f29d9ca04ce9cb2399bb5a35ef290084 100644
--- a/rotational_recovery/src/rotational_recovery.cpp
+++ b/rotational_recovery/src/rotational_recovery.cpp
@@ -341,6 +341,7 @@ namespace rotational_recovery
         return;
 
       case 2: // Two lethal costs mean a little edge
+        ROS_WARN_NAMED ("top", "RotationalRecovery (lethal cost algorithm): case with 2 sides with lethal cost");
         // Technically it is impossible that both front and back movements imply a lethal cost as well as both left and right
         // So the question is to know towards which direction move the robot and towards which side turn it.
         // 1st movement: move away
@@ -399,6 +400,7 @@ namespace rotational_recovery
         // 2. The obstacle is at one side so it's necessary to know how long the robot must move forward or
         // backward to create a gap big enough to turn to the other side
         if (cost_back_1 < cost) { // Case 1.backwards
+          ROS_WARN_NAMED ("top", "RotationalRecovery (lethal cost algorithm): case with 3 sides with lethal cost including front");
           if (cost_back_2 >= cost) { // Lethal cost too near the back, move just a bit
             twist.linear.x = -0.2;
             twist.linear.y = 0.0;
@@ -415,6 +417,7 @@ namespace rotational_recovery
           }
         }
         else if (cost_front_1 < cost) { // Case 1.forwards
+          ROS_WARN_NAMED ("top", "RotationalRecovery (lethal cost algorithm): case with 3 sides with lethal cost including back");
           if (cost_front_2 >= cost) { // Lethal cost too near the front, move just a bit
             twist.linear.x = 0.2;
             twist.linear.y = 0.0;
@@ -431,6 +434,7 @@ namespace rotational_recovery
           }
         }
         else { // Case 2
+          ROS_WARN_NAMED ("top", "RotationalRecovery (lethal cost algorithm): case with 3 sides with lethal cost including front AND back");
           if (cost_left_1 >= cost) { // Lethal cost on the left, move towards right
             double min_time = 1.0;
             double turn_duration = 0.0;
diff --git a/twist_recovery/src/twist_recovery.cpp b/twist_recovery/src/twist_recovery.cpp
index cb4e0340e80fb31b06b480eb1e09d406512781d3..21659d0723cf7c0058b655aa83871bea2bf847ce 100644
--- a/twist_recovery/src/twist_recovery.cpp
+++ b/twist_recovery/src/twist_recovery.cpp
@@ -292,6 +292,7 @@ namespace twist_recovery
         return;
 
       case 2: // Two lethal costs mean a little edge
+        ROS_WARN_NAMED ("top", "TwistRecovery (lethal cost algorithm): case with 2 sides with lethal cost");
         // Technically it is impossible that both front and back movements imply a lethal cost as well as both left and right
         // So the question is to know towards which direction move the robot and towards which side turn it.
         // 1st movement: move away
@@ -350,6 +351,7 @@ namespace twist_recovery
         // 2. The obstacle is at one side so it's necessary to know how long the robot must move forward or
         // backward to create a gap big enough to turn to the other side
         if (cost_back_1 < cost) { // Case 1.backwards
+          ROS_WARN_NAMED ("top", "TwistRecovery (lethal cost algorithm): case with 3 sides with lethal cost including front");
           if (cost_back_2 >= cost) { // Lethal cost too near the back, move just a bit
             twist.linear.x = -0.2;
             twist.linear.y = 0.0;
@@ -366,6 +368,7 @@ namespace twist_recovery
           }
         }
         else if (cost_front_1 < cost) { // Case 1.forwards
+          ROS_WARN_NAMED ("top", "TwistRecovery (lethal cost algorithm): case with 3 sides with lethal cost including back");
           if (cost_front_2 >= cost) { // Lethal cost too near the front, move just a bit
             twist.linear.x = 0.2;
             twist.linear.y = 0.0;
@@ -382,6 +385,7 @@ namespace twist_recovery
           }
         }
         else { // Case 2
+          ROS_WARN_NAMED ("top", "TwistRecovery (lethal cost algorithm): case with 3 sides with lethal cost including front AND back");
           if (cost_left_1 >= cost) { // Lethal cost on the left, move towards right
             double min_time = 1.0;
             double turn_duration = 0.0;