From 769c5c404ece6b856126ea395307d439a42bf242 Mon Sep 17 00:00:00 2001
From: David Murdoch <dmurdoch@locusrobotics.com>
Date: Wed, 17 Jul 2024 10:51:54 -0400
Subject: [PATCH] Adding same logs to batch optimizer

---
 fuse_optimizers/src/batch_optimizer.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/fuse_optimizers/src/batch_optimizer.cpp b/fuse_optimizers/src/batch_optimizer.cpp
index e86af19e3..6784a5a7f 100644
--- a/fuse_optimizers/src/batch_optimizer.cpp
+++ b/fuse_optimizers/src/batch_optimizer.cpp
@@ -278,12 +278,15 @@ bool BatchOptimizer::startServiceCallback(std_srvs::Empty::Request&, std_srvs::E
 
 void BatchOptimizer::start()
 {
+  ROS_INFO_STREAM("Starting optimizer.");
   // Tell all the plugins to start
   startPlugins();
+  ROS_INFO_STREAM("Starting optimizer complete.");
 }
 
 void BatchOptimizer::stop()
 {
+  ROS_INFO_STREAM("Stopping optimizer.");
   // Tell all the plugins to stop
   stopPlugins();
   // Reset the optimizer state
@@ -315,6 +318,7 @@ void BatchOptimizer::stop()
     std::lock_guard<std::mutex> lock(pending_transactions_mutex_);
     pending_transactions_.clear();
   }
+  ROS_INFO_STREAM("Optimizer stopping complete.");
 }
 
 }  // namespace fuse_optimizers