How to enable rosout topic in ROS2?

asked 2019-03-06 08:03:29 -0600

alsora
1322 ●45 ●83 ●76 https://github.com/alsora

Hi,

I wanted to try the rosout feature of ROS2.

I built everything from the master branch.

I have a node which continuously logs data. However, there is not rosout topic when I run ros2 topic list. I also tried to use the CLI argument __log_disable_rosout:=false but it does not change the result.

What should I do in order to visualize logs on rosout?

#include "rclcpp/rclcpp.hpp"
#include <memory>
#include <string>

int main(int argc, char ** argv)
{

    // initialize ros2 and create a node
    rclcpp::init(argc, argv);
    rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("simple_node");

    rclcpp::WallRate rate(10);
    while (rclcpp::ok()){
        RCLCPP_WARN(node->get_logger(), "This is a RCLCPP_WARN message");
        rate.sleep();
    }

    rclcpp::shutdown();
    node = nullptr;
    return 0;
}

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Comments

This is a little odd because rosout should be enabled by default if you're building ROS2 from master now.

When you say you built everything from the master branch do you mean that you're doing a complete build from source of all the ROS 2 packages or that you just built rcutils, rcl, and rclcpp? Make sure you're remembering to source the new build if you're creating an overlay.

Do you have an existing release of ROS 2 sourced from somewhere else already? I've had issues building just rclcpp, rcl, and rcutils in a workspace when I already have ROS 2 sourced because colcon wants to use the dependencies from the sourced version instead of the local workspace. So rclcpp ends up building with the older version of rcl that doesn't have rosout logging in it.