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Refactor logging #543

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merged 13 commits into from
Oct 14, 2024
Merged

Refactor logging #543

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d9f06b0
Refactor logging for example 1 - 6
christophfroehlich Aug 5, 2024
cc7dd51
Update logger for remaining examples
christophfroehlich Aug 5, 2024
13adc82
Revert change to copyright
christophfroehlich Aug 5, 2024
ab40b0a
Revert "Reduce update rate to avoid clogging the log"
christophfroehlich Jul 26, 2024
f8b2bf4
Merge branch 'master' into use_logger_var
christophfroehlich Oct 8, 2024
1c8fb50
Don't use throttling for example_6
christophfroehlich Oct 13, 2024
74b0b9e
Update example_1/doc/userdoc.rst
christophfroehlich Oct 13, 2024
2ce0b2b
Update example_2/doc/userdoc.rst
christophfroehlich Oct 13, 2024
4a9f372
Updating docs
christophfroehlich Oct 13, 2024
91efe03
Merge into one logging statement
christophfroehlich Oct 13, 2024
e22b0c8
Merge branch 'master' into use_logger_var
christophfroehlich Oct 13, 2024
70453fd
Remove throttled logging from example_14
christophfroehlich Oct 13, 2024
bca5024
Apply suggestions from code review
christophfroehlich Oct 14, 2024
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5 changes: 3 additions & 2 deletions example_1/doc/userdoc.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down
70 changes: 30 additions & 40 deletions example_1/hardware/rrbot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand Down Expand Up @@ -47,35 +50,32 @@ 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;
}
Expand All @@ -88,15 +88,12 @@ 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

Expand All @@ -109,7 +106,7 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_configure
{
set_command(name, 0.0);
}
RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Successfully configured!");
RCLCPP_INFO(get_logger(), "Successfully configured!");

return hardware_interface::CallbackReturn::SUCCESS;
}
Expand All @@ -118,15 +115,12 @@ 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

Expand All @@ -136,7 +130,7 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_activate(
set_command(name, get_state(name));
}

RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Successfully activated!");
RCLCPP_INFO(get_logger(), "Successfully activated!");

return hardware_interface::CallbackReturn::SUCCESS;
}
Expand All @@ -145,18 +139,15 @@ 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;
Expand All @@ -166,18 +157,18 @@ 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 (const auto & [name, descr] : joint_state_interfaces_)
{
// Simulate RRBot's movement
auto new_value = get_state(name) + (get_command(name) - get_state(name)) / hw_slowdown_;
set_state(name, new_value);
// Simulate RRBot's movement
RCLCPP_INFO_STREAM(
rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
"Got state " << get_state(name) << " for joint: " << name << "!");
ss << std::fixed << std::setprecision(2) << std::endl
<< "\t" << get_state(name) << " for joint '" << 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;
Expand All @@ -187,17 +178,16 @@ 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 (const auto & [name, descr] : joint_command_interfaces_)
{
// Simulate sending commands to the hardware
RCLCPP_INFO_STREAM(
rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
"Got command" << get_command(name) << " for joint: " << name << "!");
ss << std::fixed << std::setprecision(2) << std::endl
<< "\t" << get_command(name) << " for joint '" << 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;
Expand Down
5 changes: 3 additions & 2 deletions example_10/doc/userdoc.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down
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