print debug info in osqp

Signed-off-by: Tomohito Ando <[email protected]>

Author: TomohitoAndo

control/mpc_lateral_controller/src/qp_solver/qp_solver_osqp.cpp

@@ -21,6 +21,7 @@ namespace autoware::motion::control::mpc_lateral_controller
 {
 QPSolverOSQP::QPSolverOSQP(const rclcpp::Logger & logger) : logger_{logger}
 {
+  osqpsolver_.updateVerbose(true);
 }
 bool QPSolverOSQP::solve(
   const Eigen::MatrixXd & h_mat, const Eigen::MatrixXd & f_vec, const Eigen::MatrixXd & a,

launch/tier4_control_launch/launch/control.launch.py

@@ -318,6 +318,7 @@ def launch_setup(context, *args, **kwargs):
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
+        output="both",
         composable_node_descriptions=[
             controller_component,
             control_validator_component,