toid_odometry/src/odometry.cpp

@@ -203,6 +203,7 @@ private:
         o.child_frame_id = t.child_frame_id;
 
         t.transform = make_transform(state.x, state.y, state.theta);
+        RCLCPP_DEBUG_THROTTLE(this->get_logger(), *this->get_clock(), 500, "Robot position: %lf %lf %lf", state.x, state.y, state.theta);
 
         const auto& [x,y,z] = t.transform.translation;
         o.pose.pose.position.x = x;