ROS message log (C ++)

1. Log Level

Similar log message Log into five different definitions of severity macros, and the severity of Android, the following basic macro:

ROS_DEBUG_STREAM, ROS_INFO_STREAM, ROS_WARN_STREAM, ROS_ERROR_STREAM, ROS_FATAL_STREAM (in accordance with the sort of serious procedural level, low to high)

    C++代码：

    #include <ros/ros.h>

    int main(int argc, char** argv){

        ros::init(argc, argv, "hello_ros");

        ros::NodeHandle nh;

        ROS_DEBUG_STREAM("Log DEBUG");

        ROS_INFO_STREAM("Log INFO");

        ROS_WARN_STREAM("Log WARN");

        ROS_ERROR_STREAM("Log ERROR");

        ROS_FATAL_STREAM("Log FATAL");

    }

From the running results, you will find that DEBUG not print, Why? Calm, will answer 4

2. cycle single log

Add _ONCE behind macro basis, on behalf of the log only the first will be printed in the journal loop iteration:

    C++代码：

    #include <ros/ros.h>

    int main(int argc, char** argv){

        ros::init(argc, argv, "hello_ros");

        ros::NodeHandle nh;

        for(int i = 0; i < 10; i++){

            ROS_INFO_STREAM_ONCE("Log info  i = " << i);

            if(i >= 2){

                ROS_INFO_STREAM_ONCE("Log info  i = " << i);

            }

        }

    }

3. Frequency Log

Add back _THROTTLE macro base frequency becomes log into ROS_INFO_STREAM_THROTTLE (interval, message), a first parameter representative of interval in seconds the amount of time per unit time indicates the minimum time interval between occurrences of two log

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4. Open, Close log

1 mentioned in DEBUG log information is not output, because the C ++ program the default log level is INFO, DEBUG logs all been ignored, and that question is, how to open the DEBUG level log it?

rosservice call /node-name/set_logger_level ros.package-name level

C++代码：
#include <ros/ros.h>
int main(int argc, char** argv){
    ros::init(argc, argv, "hello_ros");
    ros::NodeHandle nh;
    while(ros::ok()){
        ROS_DEBUG_STREAM("Log DEBUG");
        ROS_INFO_STREAM("Log INFO");
        ROS_WARN_STREAM("Log WARN");
        ROS_ERROR_STREAM("ERROR log " ); 
        ROS_FATAL_STREAM ( " log FATAL " ); 
    } 
} 


boot upper node, and then run the terminal Call rosservice / hello_ros / set_logger_level ros.hello the DEBUG

Transfer: https: //www.jianshu.com/p/b360728ad6d1