[Controllers] Enable services for setting the log-level in controller per default

[destogl]

This is very useful when debugging and now supported in rolling and iron.

For more info see:
https://docs.ros.org/en/rolling/Tutorials/Demos/Logging-and-logger-configuration.html#logger-level-configuration-externally

[bijoua29]

Note, although this PR is necessary to add logging service to controllers, it will not work immediately since the node option to enable logging service is not implemented for lifecycle nodes. It is being worked on and should be fixed by this PR.

[bmagyar]

Shouldn't we do this on configure instead? These services add a way to block controllers...

[bijoua29]

Can we get this PR approved and merged? Implementation looks fine to me. Currently, I can't modify the log level of controllers at run-time

[bmagyar]

There was a question just above without a reply from anyone... 🤷

[bijoua29]

Shouldn't we do this on configure instead? These services add a way to block controllers...

This change is to enable a node option to enable the log level service. It must be set when the node is created and the node is created in init(). Can't really do this in on configure.

[bmagyar]

Good point! Thank you