ros节点日志文件输出到~/.ros/log文件夹。可以通过修改环境变量(ROS_HOME 或者 ROS_LOG_DIR )来修改路径。但与具体工程无关。如果使用roslaunch启动程序,可以通过roslaunch-logs命令指定日志的输出路径。
ros日志显示输出的级别
DEBUG:输出程序正常运行需要的信息
Information that you never need to see if the system is working properly. Examples:
"Received a message on topic X from caller Y"
"Sent 20 bytes on socket 9".
- INFO:输出大量用户需要的信息
Small amounts of information that may be useful to a user. Examples:
"Node initialized"
"Advertised on topic X with message type Y"
"New subscriber to topic X: Y"
- WARN:输出警告,或许影响程序的应用,但系统仍处于可控的预期状态
Information that the user may find alarming, and may affect the output of the application, but is part of the expected working of the system. Examples:
"Could not load configuration file from <path>. Using defaults."
- ERROR:输出严重错误(但错误可恢复)
Something serious (but recoverable) has gone wrong. Examples:
"Haven't received an update on topic X for 10 seconds. Stopping robot until X continues broadcasting."
"Received unexpected NaN value in transform X. Skipping..."
- FATAL:输出不可恢复的崩溃式错误
ros中改变日志显示输出的级别设置
可以使用以下方法,具体可以查阅ros::console::set_logger_level函数
#include <ros/console.h>
if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug) ) {
ros::console::notifyLoggerLevelsChanged();
}