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Unfortunately you'll need to rebuild rcl. rcl picks the logger to use at compile time, which by default is rcl_logging_spdlog.

Add rcl_logging_log4cxx and rcl to your workspace, then choose the logging implementation by setting the environment variable RCL_LOGGING_IMPLEMENTATION.

export RCL_LOGGING_IMPLEMENTATION=rcl_logging_log4cxx
colcon build --cmake-clean-cache --packages-select rcl_logging_log4cxx rcl

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