Refactor logging (backport #543)

example_1/doc/userdoc.rst

@@ -208,8 +208,9 @@ Tutorial steps
 
    .. code-block:: shell
 
-    [RRBotSystemPositionOnlyHardware]: Got command 0.50000 for joint 0!
-    [RRBotSystemPositionOnlyHardware]: Got command 0.50000 for joint 1!
+    [ros2_control_node-1] [INFO] [1721763082.437870177] [controller_manager.resource_manager.hardware_component.system.RRBot]: Writing commands:
+    [ros2_control_node-1]   0.50 for joint 'joint2/position'
+    [ros2_control_node-1]   0.50 for joint 'joint1/position'
 
    If you echo the ``/joint_states`` or ``/dynamic_joint_states`` topics you should now get similar values, namely the simulated states of the robot
 

example_1/hardware/include/ros2_control_demo_example_1/rrbot.hpp

@@ -23,6 +23,8 @@
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "rclcpp/clock.hpp"
+#include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
@@ -56,12 +58,28 @@ class RRBotSystemPositionOnlyHardware : public hardware_interface::SystemInterfa
   hardware_interface::return_type write(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
+  /// Get the logger of the SystemInterface.
+  /**
+   * \return logger of the SystemInterface.
+   */
+  rclcpp::Logger get_logger() const { return *logger_; }
+
+  /// Get the clock of the SystemInterface.
+  /**
+   * \return clock of the SystemInterface.
+   */
+  rclcpp::Clock::SharedPtr get_clock() const { return clock_; }
+
 private:
   // Parameters for the RRBot simulation
   double hw_start_sec_;
   double hw_stop_sec_;
   double hw_slowdown_;
 
+  // Objects for logging
+  std::shared_ptr<rclcpp::Logger> logger_;
+  rclcpp::Clock::SharedPtr clock_;
+
   // Store the command for the simulated robot
   std::vector<double> hw_commands_;
   std::vector<double> hw_states_;

example_1/hardware/rrbot.cpp

@@ -16,8 +16,11 @@
 
 #include <chrono>
 #include <cmath>
+#include <iomanip>
 #include <limits>
 #include <memory>
+#include <sstream>
+#include <string>
 #include <vector>
 
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
@@ -34,6 +37,9 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_init(
   {
     return hardware_interface::CallbackReturn::ERROR;
   }
+  logger_ = std::make_shared<rclcpp::Logger>(
+    rclcpp::get_logger("controller_manager.resource_manager.hardware_component.system.RRBot"));
+  clock_ = std::make_shared<rclcpp::Clock>(rclcpp::Clock());
 
   // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
   hw_start_sec_ = stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
@@ -49,35 +55,32 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_init(
     if (joint.command_interfaces.size() != 1)
     {
       RCLCPP_FATAL(
-        rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-        "Joint '%s' has %zu command interfaces found. 1 expected.", joint.name.c_str(),
-        joint.command_interfaces.size());
+        get_logger(), "Joint '%s' has %zu command interfaces found. 1 expected.",
+        joint.name.c_str(), joint.command_interfaces.size());
       return hardware_interface::CallbackReturn::ERROR;
     }
 
     if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION)
     {
       RCLCPP_FATAL(
-        rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-        "Joint '%s' have %s command interfaces found. '%s' expected.", joint.name.c_str(),
-        joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION);
+        get_logger(), "Joint '%s' have %s command interfaces found. '%s' expected.",
+        joint.name.c_str(), joint.command_interfaces[0].name.c_str(),
+        hardware_interface::HW_IF_POSITION);
       return hardware_interface::CallbackReturn::ERROR;
     }
 
     if (joint.state_interfaces.size() != 1)
     {
       RCLCPP_FATAL(
-        rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-        "Joint '%s' has %zu state interface. 1 expected.", joint.name.c_str(),
+        get_logger(), "Joint '%s' has %zu state interface. 1 expected.", joint.name.c_str(),
         joint.state_interfaces.size());
       return hardware_interface::CallbackReturn::ERROR;
     }
 
     if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION)
     {
       RCLCPP_FATAL(
-        rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-        "Joint '%s' have %s state interface. '%s' expected.", joint.name.c_str(),
+        get_logger(), "Joint '%s' have %s state interface. '%s' expected.", joint.name.c_str(),
         joint.state_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION);
       return hardware_interface::CallbackReturn::ERROR;
     }
@@ -90,15 +93,12 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_configure
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
   // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Configuring ...please wait...");
+  RCLCPP_INFO(get_logger(), "Configuring ...please wait...");
 
   for (int i = 0; i < hw_start_sec_; i++)
   {
     rclcpp::sleep_for(std::chrono::seconds(1));
-    RCLCPP_INFO(
-      rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "%.1f seconds left...",
-      hw_start_sec_ - i);
+    RCLCPP_INFO(get_logger(), "%.1f seconds left...", hw_start_sec_ - i);
   }
   // END: This part here is for exemplary purposes - Please do not copy to your production code
 
@@ -108,8 +108,7 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_configure
     hw_states_[i] = 0;
     hw_commands_[i] = 0;
   }
-
-  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Successfully configured!");
+  RCLCPP_INFO(get_logger(), "Successfully configured!");
 
   return hardware_interface::CallbackReturn::SUCCESS;
 }
@@ -144,15 +143,12 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_activate(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
   // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Activating ...please wait...");
+  RCLCPP_INFO(get_logger(), "Activating ...please wait...");
 
   for (int i = 0; i < hw_start_sec_; i++)
   {
     rclcpp::sleep_for(std::chrono::seconds(1));
-    RCLCPP_INFO(
-      rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "%.1f seconds left...",
-      hw_start_sec_ - i);
+    RCLCPP_INFO(get_logger(), "%.1f seconds left...", hw_start_sec_ - i);
   }
   // END: This part here is for exemplary purposes - Please do not copy to your production code
 
@@ -162,7 +158,7 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_activate(
     hw_commands_[i] = hw_states_[i];
   }
 
-  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Successfully activated!");
+  RCLCPP_INFO(get_logger(), "Successfully activated!");
 
   return hardware_interface::CallbackReturn::SUCCESS;
 }
@@ -171,18 +167,15 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_deactivat
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
   // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Deactivating ...please wait...");
+  RCLCPP_INFO(get_logger(), "Deactivating ...please wait...");
 
   for (int i = 0; i < hw_stop_sec_; i++)
   {
     rclcpp::sleep_for(std::chrono::seconds(1));
-    RCLCPP_INFO(
-      rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "%.1f seconds left...",
-      hw_stop_sec_ - i);
+    RCLCPP_INFO(get_logger(), "%.1f seconds left...", hw_stop_sec_ - i);
   }
 
-  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Successfully deactivated!");
+  RCLCPP_INFO(get_logger(), "Successfully deactivated!");
   // END: This part here is for exemplary purposes - Please do not copy to your production code
 
   return hardware_interface::CallbackReturn::SUCCESS;
@@ -192,17 +185,18 @@ hardware_interface::return_type RRBotSystemPositionOnlyHardware::read(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {
   // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
-  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Reading...");
+  std::stringstream ss;
+  ss << "Reading states:";
 
   for (uint i = 0; i < hw_states_.size(); i++)
   {
     // Simulate RRBot's movement
     hw_states_[i] = hw_states_[i] + (hw_commands_[i] - hw_states_[i]) / hw_slowdown_;
-    RCLCPP_INFO(
-      rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Got state %.5f for joint %d!",
-      hw_states_[i], i);
+
+    ss << std::fixed << std::setprecision(2) << std::endl
+       << "\t" << hw_states_[i] << " for joint '" << info_.joints[i].name << "'";
   }
-  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Joints successfully read!");
+  RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 500, "%s", ss.str().c_str());
   // END: This part here is for exemplary purposes - Please do not copy to your production code
 
   return hardware_interface::return_type::OK;
@@ -212,17 +206,16 @@ hardware_interface::return_type RRBotSystemPositionOnlyHardware::write(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {
   // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
-  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Writing...");
+  std::stringstream ss;
+  ss << "Writing commands:";
 
   for (uint i = 0; i < hw_commands_.size(); i++)
   {
     // Simulate sending commands to the hardware
-    RCLCPP_INFO(
-      rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Got command %.5f for joint %d!",
-      hw_commands_[i], i);
+    ss << std::fixed << std::setprecision(2) << std::endl
+       << "\t" << hw_commands_[i] << " for joint '" << info_.joints[i].name << "'";
   }
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Joints successfully written!");
+  RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 500, "%s", ss.str().c_str());
   // END: This part here is for exemplary purposes - Please do not copy to your production code
 
   return hardware_interface::return_type::OK;

example_10/doc/userdoc.rst

@@ -88,8 +88,9 @@ The *RRBot* URDF files can be found in the ``description/urdf`` folder.
 
    .. code-block:: shell
 
-    [RRBotSystemWithGPIOHardware]: Got command 0.5 for GP output 0!
-    [RRBotSystemWithGPIOHardware]: Got command 0.7 for GP output 1!
+    [ros2_control_node-1] [INFO] [1721765648.271058850] [controller_manager.resource_manager.hardware_component.system.RRBot]: Writing commands:
+    [ros2_control_node-1]   0.50 for GPIO output '0'
+    [ros2_control_node-1]   0.70 for GPIO output '1'
 
 7. Let's introspect the ros2_control hardware component. Calling
 

example_10/hardware/include/ros2_control_demo_example_10/rrbot.hpp

@@ -23,6 +23,8 @@
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "rclcpp/clock.hpp"
+#include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
@@ -56,8 +58,22 @@ class RRBotSystemWithGPIOHardware : public hardware_interface::SystemInterface
   hardware_interface::return_type write(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
+  /// Get the logger of the SystemInterface.
+  /**
+   * \return logger of the SystemInterface.
+   */
+  rclcpp::Logger get_logger() const { return *logger_; }
+
+  /// Get the clock of the SystemInterface.
+  /**
+   * \return clock of the SystemInterface.
+   */
+  rclcpp::Clock::SharedPtr get_clock() const { return clock_; }
+
 private:
-  // Parameters for the RRBot simulation
+  // Objects for logging
+  std::shared_ptr<rclcpp::Logger> logger_;
+  rclcpp::Clock::SharedPtr clock_;
 
   // Store the command and state interfaces for the simulated robot
   std::vector<double> hw_commands_;