Custom Logging

PathPlannerLib provides the ability to set custom logging callbacks that will be called when the built-in path following commands are running. You can set these callbacks through the PathPlannerLogging class.

These can be used for logging path following data with logging frameworks such as AdvantageKit, or visualization with a Field2d Widget.

public class RobotContainer {
    private final Field2d field;
    
    public RobotContainer(){
        field = new Field2d();
        SmartDashboard.putData("Field", field);

        // Logging callback for current robot pose
        PathPlannerLogging.setLogCurrentPoseCallback((pose) -> {
            // Do whatever you want with the pose here
            field.setRobotPose(pose);
        });

        // Logging callback for target robot pose
        PathPlannerLogging.setLogTargetPoseCallback((pose) -> {
            // Do whatever you want with the pose here
            field.getObject("target pose").setPose(pose);
        });

        // Logging callback for the active path, this is sent as a list of poses
        PathPlannerLogging.setLogActivePathCallback((poses) -> {
            // Do whatever you want with the poses here
            field.getObject("path").setPoses(poses);
        });
    }
}

#include <frc/smartdashboard/Field2d.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <pathplanner/lib/util/PathPlannerLogging.h>

using namespace pathplanner;

frc::Field2d m_field;

RobotContainer() {
    frc::SmartDashboard::PutData("Field", &m_field);
    
    // Logging callback for current robot pose
    PathPlannerLogging::setLogCurrentPoseCallback([this](frc::Pose2d pose) -> {
        // Do whatever you want with the pose here
        m_field.SetRobotPose(pose);
    });
    
    // Logging callback for target robot pose
    PathPlannerLogging::setLogTargetPoseCallback([this](frc::Pose2d pose) -> {
        // Do whatever you want with the pose here
        m_field.GetObject("target pose").setPose(pose);
    });
    
    // Logging callback for the active path, this is sent as a vector of poses
    PathPlannerLogging::setLogActivePathCallback([this](std::vector<frc::Pose2d> poses) -> {
        // Do whatever you want with the poses here
        m_field.GetObject("path").setPoses(poses);
    });
}

from pathplannerlib.logging import PathPlannerLogging
from wpilib import Field2d, SmartDashboard

field = Field2d()
SmartDashboard.putData('Field', field)

# Logging callback for current robot pose
PathPlannerLogging.setLogCurrentPoseCallback(lambda pose: field.setRobotPose(pose))

# Logging callback for target robot pose
PathPlannerLogging.setLogTargetPoseCallback(lambda pose: field.getObject('target pose').setPose(pose))

# Logging callback for the active path, this is sent as a list of poses
PathPlannerLogging.setLogActivePathCallback(lambda poses: field.getObject('path').setPoses(poses))

Last modified: 15 September 2024