From 3c521eb573292d0ec6e5cb7525daf21335f0b2f3 Mon Sep 17 00:00:00 2001
From: Jihoon Lee <jihoonlee.in@gmail.com>
Date: Fri, 29 Sep 2017 10:04:28 +0200
Subject: [PATCH] Remove hooray. And prints remaining work items in queue
 (#547)

---
 cartographer/mapping_2d/sparse_pose_graph.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cartographer/mapping_2d/sparse_pose_graph.cc b/cartographer/mapping_2d/sparse_pose_graph.cc
index c3ad9f1..cc2d432 100644
--- a/cartographer/mapping_2d/sparse_pose_graph.cc
+++ b/cartographer/mapping_2d/sparse_pose_graph.cc
@@ -355,13 +355,13 @@ void SparsePoseGraph::HandleWorkQueue() {
         run_loop_closure_ = false;
         while (!run_loop_closure_) {
           if (work_queue_->empty()) {
-            LOG(INFO) << "We caught up. Hooray!";
             work_queue_.reset();
             return;
           }
           work_queue_->front()();
           work_queue_->pop_front();
         }
+        LOG(INFO) << "Remaining work items in queue: " << work_queue_->size();
         // We have to optimize again.
         HandleWorkQueue();
       });