Invoke OMPL debug print only when debug logging is enabled (#2608)

moveit · Dec 17, 2023 · 0807cb2 · 0807cb2
1 parent 7ad5b52
commit 0807cb2
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp b/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp
@@ -760,9 +760,13 @@ void ModelBasedPlanningContext::postSolve()
   RCLCPP_DEBUG(getLogger(), "There were %d valid motions and %d invalid motions.", v, iv);
 
   // Debug OMPL setup and solution
-  std::stringstream debug_out;
-  ompl_simple_setup_->print(debug_out);
-  RCLCPP_DEBUG(getLogger(), "%s", rclcpp::get_c_string(debug_out.str()));
+  RCLCPP_DEBUG(getLogger(), "%s",
+               [&] {
+                 std::stringstream debug_out;
+                 ompl_simple_setup_->print(debug_out);
+                 return debug_out.str();
+               }()
+                   .c_str());
 }
 
 void ModelBasedPlanningContext::solve(planning_interface::MotionPlanResponse& res)