Robotics - ROS2 Logging

Logging Level Tweaking

1. Programmatic API (in-process) In C++, any rclcpp::Logger can have its level tweaked at runtime:

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    #include <rclcpp/logger.hpp>
    auto my_logger = rclcpp::get_logger("my_node");
    my_logger.set_level(rclcpp::Logger::Level::Debug);
   

2. With the default rcl_logging_spdlog backend, ROS 2 exposes two services per processes:

   • /<node_name>/get_logger_levels (rcl_interfaces/srv/GetLoggerLevels)
   • /<node_name>/set_logger_levels (rcl_interfaces/srv/SetLoggerLevels)

So you can call them during runtime:

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```
ros2 service call /my_node/set_logger_levels \
rcl_interfaces/srv/SetLoggerLevels "{ levels: [ { name: 'my_node', level: 10 } ] }"
```

1. Also, one can browse logs on rqt_logger:

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    ros2 run rqt_logger_level rqt_logger_level
   

2. Or, ros2 run pkg node --ros-args --log-level my_node:=DEBUG

   • I was having issues with doing this in gtest though.

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