From 6c31420b974a3ead500052cdb0a1b96b7a5dd29c Mon Sep 17 00:00:00 2001
From: Steve Wolter <steve.wolter.de@gmail.com>
Date: Tue, 17 Jul 2018 13:38:37 +0200
Subject: [PATCH] Log status of failed RPCs in PoseGraphStub. (#1288)

Log status of failed RPCs in PoseGraphStub.

This improves the usefulness of error messages in the log.
---
 .../cloud/internal/client/pose_graph_stub.cc       | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/cartographer/cloud/internal/client/pose_graph_stub.cc b/cartographer/cloud/internal/client/pose_graph_stub.cc
index 8759550..f9de08b 100644
--- a/cartographer/cloud/internal/client/pose_graph_stub.cc
+++ b/cartographer/cloud/internal/client/pose_graph_stub.cc
@@ -168,7 +168,10 @@ bool PoseGraphStub::IsTrajectoryFinished(int trajectory_id) const {
   request.set_trajectory_id(trajectory_id);
   async_grpc::Client<handlers::IsTrajectoryFinishedSignature> client(
       client_channel_);
-  CHECK(client.Write(request));
+  ::grpc::Status status;
+  CHECK(client.Write(request, &status))
+      << "Failed to check if trajectory " << trajectory_id
+      << " is finished: " << status.error_message();
   return client.response().is_finished();
 }
 
@@ -177,7 +180,10 @@ bool PoseGraphStub::IsTrajectoryFrozen(int trajectory_id) const {
   request.set_trajectory_id(trajectory_id);
   async_grpc::Client<handlers::IsTrajectoryFrozenSignature> client(
       client_channel_);
-  CHECK(client.Write(request));
+  ::grpc::Status status;
+  CHECK(client.Write(request, &status))
+      << "Failed to check if trajectory " << trajectory_id
+      << " is frozen: " << status.error_message();
   return client.response().is_frozen();
 }
 
@@ -190,7 +196,9 @@ std::vector<mapping::PoseGraphInterface::Constraint>
 PoseGraphStub::constraints() const {
   google::protobuf::Empty request;
   async_grpc::Client<handlers::GetConstraintsSignature> client(client_channel_);
-  CHECK(client.Write(request));
+  ::grpc::Status status;
+  CHECK(client.Write(request, &status))
+      << "Failed to get constraints: " << status.error_message();
   return mapping::FromProto(client.response().constraints());
 }