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ros2 logging demo C++

asked 2020-07-09 06:54:53 -0500

Almost
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updated 2020-07-09 06:55:03 -0500

I am trying to migrate code to ROS2 and I am stuck on logging.

From https://index.ros.org/doc/ros2/Concep... I got to the code example at https://github.com/ros2/demos/tree/ma...

My problem is that all the log calls use some unscoped get_logger(), or this->get_logger in one file. But I can't find where that is defined or what it is supposed to do. ( e.g. RCLCPP_INFO(get_logger(), "Publishing: '%s'", msg->data.c_str()); )

So 1) I don't get it myself atm 2) this is not a good practice for a demo that should clarify it.

Thanks in advance for help.

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answered 2020-07-10 04:56:22 -0500

ahcorde

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Hello,

get_logger() is part of the API of rclcpp::Node see the documentation.

In the example is called RCLCPP_INFO(get_logger(), ... or RCLCPP_INFO(this->get_logger(), ... because it's inside the class which extends the Node class. But if you want to use the logger outside a Node class you can use it in this way: RCLCPP_INFO(node->get_logger(), .... Or if you don't have an available node you can called it: `RCLCPP_ERROR(rclcpp::get_logger("string of the logger", ... )

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Perfect answer, thank you. I think it would really be worth clarifying in the tutorial.

Almost ( 2020-07-11 06:40:28 -0500 )edit

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Asked: 2020-07-09 06:54:53 -0500

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