Refactoring execution.

lrs_turtle/executors/base_executor.py

@@ -47,8 +47,7 @@ class BaseExecutor(Executor):
             self.course = 90.0 - self.theta
             self.have_turtle_pose = True
         except Exception as exc:
-            print("EXCEPTION pose_callback:", type(exc))
-            print(exc)
+            self.node.get_logger().error(f'EXCEPTION pose_callback: {type(exc)} - {exc}')                        
 
     def check(self):
         lx = 0.5

lrs_turtle/executors/move_to.py

@@ -13,10 +13,10 @@ class MoveToExecutor(BaseExecutor):
 
     def start(self):
         try:
-            print("MoveToExecutor start")
+            self.node.get_logger().info("MoveToExecutor start")
             self.params.print()
             gp = self.params.get_value("waypoint")
-            print("GP:", gp)
+            self.node.get_logger().info(f'GP: {gp}')
 
             self.commanded_speed = self.get_commanded_speed()
             self.set_goal_gp(gp.latitude, gp.longitude, gp.altitude)
@@ -25,10 +25,9 @@ class MoveToExecutor(BaseExecutor):
 
             self.stop()
             self.cleanup()
-            print("MoveToExecutor end")
+            self.node.get_logger().info("MoveToExecutor end")
         except Exception as exc:
-            print("EXCEPTION start move-to", type(exc))
-            print(exc)
+            self.node.get_logger().error(f'EXCEPTION start: {type(exc)} - {exc}')            
 
 class MoveToExecutorFactory(ExecutorFactory):
     def __init__(self):