feat: Replace println with proper logging

Cargo.toml

@@ -25,6 +25,8 @@ voraus_interfaces = { version = "0.1.0" }
 rclrs = { version = "0.4.1" }
 rosidl_runtime_rs = { version = "0.4.1" }
 tokio = "1.38.0"
+log = "0.4.22"
+env_logger = "0.11.5"
 
 [dev-dependencies]
 rclrs = { version = "0.4.1" }

README.md

@@ -44,6 +44,7 @@ Run `cargo build --release`
 ### Run the voraus-ros-bridge
 
 Run `cargo run --release`
+In order to get log output, run `RUST_OPCUA_LOG=INFO cargo run --release`
 
 ## via ROS:
 

src/main.rs

@@ -1,13 +1,17 @@
 mod opc_ua_client;
 
+use opc_ua_client::OPCUAClient;
 use opcua::types::Variant;
 use rclrs::{create_node, Context, RclrsError};
-use opc_ua_client::OPCUAClient;
-use std::{env, sync::{Arc, Mutex}};
 use ros_services::ROSServices;
+use std::{
+    env,
+    sync::{Arc, Mutex},
+};
 
 mod ros_publisher;
 mod ros_services;
+use log::{debug, info};
 
 use ros_publisher::{create_joint_state_msg, RosPublisher};
 
@@ -23,7 +27,7 @@ fn main() -> Result<(), RclrsError> {
     let Ok(_connection_result) = opc_ua_client.lock().unwrap().connect() else {
         panic!("Connection could not be established, but is required.");
     };
-     
+
     let ros_services = Arc::new(ROSServices::new(Arc::clone(&opc_ua_client)));
     let _enable_impedance_control =
         node_copy.create_service::<std_srvs::srv::Empty, _>("enable_impedance_control", {
@@ -34,7 +38,7 @@ fn main() -> Result<(), RclrsError> {
     let callback = {
         let provider = Arc::clone(&joint_state_publisher);
         move |x: Variant| {
-            println!("Value = {:?}", &x);
+            debug!("Value = {:?}", &x);
             let mut data_value: Vec<f64> = vec![];
             match x {
                 Variant::Array(unwrapped) => {
@@ -59,8 +63,8 @@ fn main() -> Result<(), RclrsError> {
         .create_subscription(1, "100111", callback, 10)
         .expect("ERROR: Got an error while subscribing to variables");
     // Loops forever. The publish thread will call the callback with changes on the variables
-    println!("Starting OPC UA client");
+    info!("Starting OPC UA client");
     let _session = opc_ua_client.lock().unwrap().run_async();
-    println!("Spinning ROS");
+    info!("Spinning ROS");
     rclrs::spin(node_copy)
 }

src/opc_ua_client.rs

@@ -9,6 +9,7 @@ use opcua::types::{
     CallMethodRequest, MessageSecurityMode, MonitoredItemCreateRequest, NodeId, StatusCode, TimestampsToReturn, UserTokenPolicy, Variant
 };
 use tokio::sync::oneshot;
+use log::debug;
 
 pub struct OPCUAClient {
     endpoint: String,
@@ -71,8 +72,8 @@ impl OPCUAClient {
         if self.session.is_none() {
             panic!("Not connected. Can't create subscriptions.");
         }
-        println!(
-            "Creating a subscription for ns={};{} to indirectly call the callback every {}ms.",
+        debug!(
+            "Creating a subscription for ns={};{} to indirectly call the callback every {} ms.",
             namespace, node_id, period_ms
         );
         let cloned_session_lock = self.session.clone().unwrap();
@@ -93,13 +94,13 @@ impl OPCUAClient {
             priority,
             publishing_enabled,
             DataChangeCallback::new(move |changed_monitored_items| {
-                println!("Data change from server:");
+                debug!("Data change from server:");
                 changed_monitored_items
                     .iter()
                     .for_each(|item| callback(extract_value(item)));
             }),
         )?;
-        println!("Created a subscription with id = {}", subscription_id);
+        debug!("Created a subscription with id = {}", subscription_id);
 
         // Create some monitored items
         let items_to_create: Vec<MonitoredItemCreateRequest> = [node_id]
@@ -128,7 +129,7 @@ impl OPCUAClient {
             input_arguments: None,
         };
         let result = session.call(method).unwrap();
-        println!("result of call: {:?}", result);
+        debug!("result of call: {:?}", result);
     }
 
     pub fn run(&self) {