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In response to @tnajjar, to do this in Python, use RcutilsLogger under rclpy.impl

from rclpy.impl import rcutils_logger
logger = rcutils_logger.RcutilsLogger(name="my_logger")
logger.info("Hello World")

You will see something like

[INFO] [1681758901.959964134] [my_logger]: Hello World

Underneath the hood, some function from rcutils is called that does the job of logging.

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