Log level (#3110)

* added log level for navigation launch * localization log level * slam log level * revert use_comp * added log level to components
ros-navigation · Aug 24, 2022 · 9e83442 · 9e83442
1 parent 187f729
commit 9e83442
Show file tree

Hide file tree

Showing 4 changed files with 38 additions and 1 deletion.
diff --git a/nav2_bringup/launch/bringup_launch.py b/nav2_bringup/launch/bringup_launch.py
@@ -42,6 +42,7 @@ def generate_launch_description():
     autostart = LaunchConfiguration('autostart')
     use_composition = LaunchConfiguration('use_composition')
     use_respawn = LaunchConfiguration('use_respawn')
+    log_level = LaunchConfiguration('log_level')
 
     # Map fully qualified names to relative ones so the node's namespace can be prepended.
     # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
@@ -107,6 +108,10 @@ def generate_launch_description():
         'use_respawn', default_value='False',
         description='Whether to respawn if a node crashes. Applied when composition is disabled.')
 
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info',
+        description='log level')
+
     # Specify the actions
     bringup_cmd_group = GroupAction([
         PushRosNamespace(
@@ -119,6 +124,7 @@ def generate_launch_description():
             package='rclcpp_components',
             executable='component_container_isolated',
             parameters=[configured_params, {'autostart': autostart}],
+            arguments=['--ros-args', '--log-level', log_level],
             remappings=remappings,
             output='screen'),
 
@@ -171,6 +177,7 @@ def generate_launch_description():
     ld.add_action(declare_autostart_cmd)
     ld.add_action(declare_use_composition_cmd)
     ld.add_action(declare_use_respawn_cmd)
+    ld.add_action(declare_log_level_cmd)
 
     # Add the actions to launch all of the navigation nodes
     ld.add_action(bringup_cmd_group)

diff --git a/nav2_bringup/launch/localization_launch.py b/nav2_bringup/launch/localization_launch.py
@@ -38,6 +38,7 @@ def generate_launch_description():
     use_composition = LaunchConfiguration('use_composition')
     container_name = LaunchConfiguration('container_name')
     use_respawn = LaunchConfiguration('use_respawn')
+    log_level = LaunchConfiguration('log_level')
 
     lifecycle_nodes = ['map_server', 'amcl']
 
@@ -99,6 +100,10 @@ def generate_launch_description():
         'use_respawn', default_value='False',
         description='Whether to respawn if a node crashes. Applied when composition is disabled.')
 
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info',
+        description='log level')
+
     load_nodes = GroupAction(
         condition=IfCondition(PythonExpression(['not ', use_composition])),
         actions=[
@@ -110,6 +115,7 @@ def generate_launch_description():
                 respawn=use_respawn,
                 respawn_delay=2.0,
                 parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
                 remappings=remappings),
             Node(
                 package='nav2_amcl',
@@ -119,12 +125,14 @@ def generate_launch_description():
                 respawn=use_respawn,
                 respawn_delay=2.0,
                 parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
                 remappings=remappings),
             Node(
                 package='nav2_lifecycle_manager',
                 executable='lifecycle_manager',
                 name='lifecycle_manager_localization',
                 output='screen',
+                arguments=['--ros-args', '--log-level', log_level],
                 parameters=[{'use_sim_time': use_sim_time},
                             {'autostart': autostart},
                             {'node_names': lifecycle_nodes}])
@@ -172,6 +180,7 @@ def generate_launch_description():
     ld.add_action(declare_use_composition_cmd)
     ld.add_action(declare_container_name_cmd)
     ld.add_action(declare_use_respawn_cmd)
+    ld.add_action(declare_log_level_cmd)
 
     # Add the actions to launch all of the localiztion nodes
     ld.add_action(load_nodes)

diff --git a/nav2_bringup/launch/navigation_launch.py b/nav2_bringup/launch/navigation_launch.py
@@ -37,6 +37,7 @@ def generate_launch_description():
     use_composition = LaunchConfiguration('use_composition')
     container_name = LaunchConfiguration('container_name')
     use_respawn = LaunchConfiguration('use_respawn')
+    log_level = LaunchConfiguration('log_level')
 
     lifecycle_nodes = ['controller_server',
                        'smoother_server',
@@ -100,6 +101,10 @@ def generate_launch_description():
         'use_respawn', default_value='False',
         description='Whether to respawn if a node crashes. Applied when composition is disabled.')
 
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info',
+        description='log level')
+
     load_nodes = GroupAction(
         condition=IfCondition(PythonExpression(['not ', use_composition])),
         actions=[
@@ -110,6 +115,7 @@ def generate_launch_description():
                 respawn=use_respawn,
                 respawn_delay=2.0,
                 parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
                 remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
             Node(
                 package='nav2_smoother',
@@ -119,6 +125,7 @@ def generate_launch_description():
                 respawn=use_respawn,
                 respawn_delay=2.0,
                 parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
                 remappings=remappings),
             Node(
                 package='nav2_planner',
@@ -128,6 +135,7 @@ def generate_launch_description():
                 respawn=use_respawn,
                 respawn_delay=2.0,
                 parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
                 remappings=remappings),
             Node(
                 package='nav2_behaviors',
@@ -137,6 +145,7 @@ def generate_launch_description():
                 respawn=use_respawn,
                 respawn_delay=2.0,
                 parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
                 remappings=remappings),
             Node(
                 package='nav2_bt_navigator',
@@ -146,6 +155,7 @@ def generate_launch_description():
                 respawn=use_respawn,
                 respawn_delay=2.0,
                 parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
                 remappings=remappings),
             Node(
                 package='nav2_waypoint_follower',
@@ -155,6 +165,7 @@ def generate_launch_description():
                 respawn=use_respawn,
                 respawn_delay=2.0,
                 parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
                 remappings=remappings),
             Node(
                 package='nav2_velocity_smoother',
@@ -164,13 +175,15 @@ def generate_launch_description():
                 respawn=use_respawn,
                 respawn_delay=2.0,
                 parameters=[configured_params],
+                arguments=['--ros-args', '--log-level', log_level],
                 remappings=remappings +
                            [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
             Node(
                 package='nav2_lifecycle_manager',
                 executable='lifecycle_manager',
                 name='lifecycle_manager_navigation',
                 output='screen',
+                arguments=['--ros-args', '--log-level', log_level],
                 parameters=[{'use_sim_time': use_sim_time},
                             {'autostart': autostart},
                             {'node_names': lifecycle_nodes}]),
@@ -248,7 +261,7 @@ def generate_launch_description():
     ld.add_action(declare_use_composition_cmd)
     ld.add_action(declare_container_name_cmd)
     ld.add_action(declare_use_respawn_cmd)
-
+    ld.add_action(declare_log_level_cmd)
     # Add the actions to launch all of the navigation nodes
     ld.add_action(load_nodes)
     ld.add_action(load_composable_nodes)

diff --git a/nav2_bringup/launch/slam_launch.py b/nav2_bringup/launch/slam_launch.py
@@ -32,6 +32,7 @@ def generate_launch_description():
     use_sim_time = LaunchConfiguration('use_sim_time')
     autostart = LaunchConfiguration('autostart')
     use_respawn = LaunchConfiguration('use_respawn')
+    log_level = LaunchConfiguration('log_level')
 
     # Variables
     lifecycle_nodes = ['map_saver']
@@ -75,6 +76,10 @@ def generate_launch_description():
         'use_respawn', default_value='False',
         description='Whether to respawn if a node crashes. Applied when composition is disabled.')
 
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info',
+        description='log level')
+
     # Nodes launching commands
 
     start_map_saver_server_cmd = Node(
@@ -83,13 +88,15 @@ def generate_launch_description():
             output='screen',
             respawn=use_respawn,
             respawn_delay=2.0,
+            arguments=['--ros-args', '--log-level', log_level],
             parameters=[configured_params])
 
     start_lifecycle_manager_cmd = Node(
             package='nav2_lifecycle_manager',
             executable='lifecycle_manager',
             name='lifecycle_manager_slam',
             output='screen',
+            arguments=['--ros-args', '--log-level', log_level],
             parameters=[{'use_sim_time': use_sim_time},
                         {'autostart': autostart},
                         {'node_names': lifecycle_nodes}])
@@ -119,6 +126,7 @@ def generate_launch_description():
     ld.add_action(declare_use_sim_time_cmd)
     ld.add_action(declare_autostart_cmd)
     ld.add_action(declare_use_respawn_cmd)
+    ld.add_action(declare_log_level_cmd)
 
     # Running Map Saver Server
     ld.add_action(start_map_saver_server_cmd)