From d69cc29ec901f1e5a0770c8a32f326677267640d Mon Sep 17 00:00:00 2001
From: lyq <zxwl@44.com>
Date: Mon, 12 Jan 2026 11:24:27 +0800
Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E6=95=B4=E6=89=93=E5=8D=B0=E4=BF=A1?=
 =?UTF-8?q?=E6=81=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/autonomy/route/src/route_node.cpp          | 18 ++++++++++++------
 src/communication/pub_gps/src/pub_gps_node.cpp |  4 ++--
 2 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/src/autonomy/route/src/route_node.cpp b/src/autonomy/route/src/route_node.cpp
index fea33f7..23e7b13 100644
--- a/src/autonomy/route/src/route_node.cpp
+++ b/src/autonomy/route/src/route_node.cpp
@@ -133,11 +133,13 @@ private:
 
         if (!isCollecting)
         {
-            cout << "等待采集...." << endl;
+            // cout << "等待采集...." << endl;
+            RCLCPP_INFO(this->get_logger(), "等待采集.....");
         }
         else
         {
-            cout << "平台采集中" << endl;
+            // cout << "平台采集中" << endl;
+            RCLCPP_INFO(this->get_logger(), "平台采集中.....");
         }
     }
     void sub_callback(const sweeper_interfaces::msg::Sub::SharedPtr msg)
@@ -146,21 +148,25 @@ private:
         {
             std::lock_guard<std::mutex> lock(collect_mutex); // 加锁
             isCollecting = true;
-            cout << "平台开始采集" << endl;
+            // cout << "平台开始采集" << endl;
+            RCLCPP_INFO(this->get_logger(), "平台开始采集");
             pthread_create(&route_thread_t, NULL, route_thread, NULL);
         }
         else if (!msg->get_route && isCollecting)
         {
             isCollecting = false;
-            cout << "平台结束采集" << endl;
+            // cout << "平台结束采集" << endl;
+            RCLCPP_INFO(this->get_logger(), "平台结束采集");
             pthread_cancel(route_thread_t);
             if (upload_file(filename))
             {
-                cout << "上传成功" << endl;
+                // cout << "上传成功" << endl;
+                RCLCPP_INFO(this->get_logger(), "上传成功");
             }
             else
             {
-                cout << "上传失败" << endl;
+                // cout << "上传失败" << endl;
+                RCLCPP_INFO(this->get_logger(), "上传失败");
             }
         }
     }
diff --git a/src/communication/pub_gps/src/pub_gps_node.cpp b/src/communication/pub_gps/src/pub_gps_node.cpp
index 07ba726..6bbe8e9 100644
--- a/src/communication/pub_gps/src/pub_gps_node.cpp
+++ b/src/communication/pub_gps/src/pub_gps_node.cpp
@@ -179,8 +179,8 @@ void *mqtt_pub_gps(void *arg)
                                            &token_d_m);
             if (rc == MQTTCLIENT_SUCCESS)
             {
-                std::cout << "[MQTT] Published to topic: " << g_conf.pub_gps_topic
-                          << "\n        msg: " << json_string << std::endl;
+                // std::cout << "[MQTT] Published to topic: " << g_conf.pub_gps_topic
+                //           << "\n        msg: " << json_string << std::endl;
                 MQTTClient_waitForCompletion(client, token_d_m, g_conf.timeout_ms);
             }
             else