ros2--log--日志

最新推荐文章于 2024-07-27 16:28:22 发布

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最新推荐文章于 2024-07-27 16:28:22 发布

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文章标签： java 前端开发语言

本文链接：https://blog.csdn.net/m0_60274660/article/details/140461531

版权

ROS2的日志级别定义在文件/opt/ros/humble/include/rcutils/rcutils/logging.h的167-175行。

/// The severity levels of log messages / loggers.
enum RCUTILS_LOG_SEVERITY
{
  RCUTILS_LOG_SEVERITY_UNSET = 0,  ///< The unset log level
  RCUTILS_LOG_SEVERITY_DEBUG = 10,  ///< The debug log level
  RCUTILS_LOG_SEVERITY_INFO = 20,  ///< The info log level
  RCUTILS_LOG_SEVERITY_WARN = 30,  ///< The warn log level
  RCUTILS_LOG_SEVERITY_ERROR = 40,  ///< The error log level
  RCUTILS_LOG_SEVERITY_FATAL = 50,  ///< The fatal log level
};

ros2中日志是属于节点对象的，也就是需要通过节点对象获取节点的日志。

this->get_logger()

获取节点的日志对象之后，才能对节点进行其他设置操作。

日志的接口

set_leve(Level level)

设置日志级别；

设置节点的日志级别之后，只输出当前级别以及更低级别日志。

#include <chrono>

#include "rclcpp/rclcpp.hpp"

using namespace std::literals::chrono_literals;

class ParamLogNode:public rclcpp::Node{
public:
    ParamLogNode(std::string name):Node(name){
        RCLCPP_INFO(this->get_logger(),"I am %s",name.c_str());
        this->declare_parameter("param_log_lelvel",0);
        this->get_parameter("param_log_level",log_level_);
        this->get_logger().set_level(static_cast[rclcpp::Logger::Level](rclcpp::Logger::Level)(log_level_));
        timer_=this->create_wall_timer(500ms,std::bind(&ParamLogNode::_timer_callback,this));
    }
private:
    void timer_callback(){
_        this->get_parameter("param_log_level",log_level_);
        this->get_logger().set_level(static_cast[rclcpp::Logger::Level](rclcpp::Logger::Level)(log_level_));
        std::cout<<"============================================================="<<std::endl;
        RCLCPP_DEBUG(this->get_logger(),"DEBUG log...");
        RCLCPP_INFO(this->get_logger(),"INFO log...");
        RCLCPP_WARN(this->get_logger(),"WARN log...");
        RCLCPP_ERROR(this->get_logger(),"ERROR log...");
        RCLCPP_FATAL(this->get_logger(),"FATAL log...");
    }

private:
   int log_level_{0};
   rclcpp::TimerBase::SharedPtr timer_{};

};

int main(int argc,char** argv){
    rclcpp::init(argc,argv);
    auto node=std::make_shared<ParamLogNode>("param_log_01");
    rclcpp::spin(node);
    rclcpp::shutdown();

    return 0;
}