From 70134cc6ab3c6367a337db2f0b97765ab31b20c7 Mon Sep 17 00:00:00 2001
From: Nicolas Hiillos <nicolashiillos@gmail.com>
Date: Tue, 28 Feb 2023 15:50:42 +0200
Subject: [PATCH] Improve default log message for received motion

---
 .../include/robot_controller/robot_controller.hpp               | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/robot_controller/include/robot_controller/robot_controller.hpp b/src/robot_controller/include/robot_controller/robot_controller.hpp
index 3d02e4e..6b062f8 100644
--- a/src/robot_controller/include/robot_controller/robot_controller.hpp
+++ b/src/robot_controller/include/robot_controller/robot_controller.hpp
@@ -58,7 +58,7 @@ rclcpp_action::GoalResponse RobotController::motion_handle_goal(
   const rclcpp_action::GoalUUID & uuid,
   std::shared_ptr<const ExecuteMotion::Goal> goal)
 {
-  RCLCPP_INFO(this->get_logger(), "Received goal request with acceleration %f", goal->motion.acceleration);
+  RCLCPP_INFO(this->get_logger(), "Received goal request with %ld poses", goal->motion.path.size());
   (void)uuid;
   return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
 }