From bf0f1136bd2ac81ceabbe33c27b66e2425c14b2a Mon Sep 17 00:00:00 2001 From: Joe DiPrima Date: Mon, 23 Feb 2026 17:32:33 -0600 Subject: [PATCH] Fix compile error in waist debug logging Use GetDataWithTime().data instead of GetData(). Co-Authored-By: Claude Opus 4.6 --- .../src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp index 5ed68e3..bda6a71 100644 --- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp +++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp @@ -2849,8 +2849,8 @@ class G1Deploy { static int waist_log_cnt = 0; if (++waist_log_cnt >= 100) { waist_log_cnt = 0; - auto ls = low_state_buffer_.GetData(); - float hw_q = ls ? ls->motor_state()[14].q() : -999.0f; + const auto ls_dbg = low_state_buffer_.GetDataWithTime().data; + float hw_q = ls_dbg ? ls_dbg->motor_state()[14].q() : -999.0f; std::cout << "[WAIST_DBG] cmd_q=" << motor_command_tmp.q_target.at(14) << " hw_q=" << hw_q << " kp=" << motor_command_tmp.kp.at(14)