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# Build devices under test | ||
add_executable(logger_dut logger_dut.cpp) | ||
target_link_libraries(logger_dut rclcpp::rclcpp moveit_utils) | ||
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find_package(launch_testing_ament_cmake) | ||
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add_executable(logger_test_node logger_test_node.cpp) | ||
target_link_libraries(logger_test_node rclcpp::rclcpp moveit_utils) | ||
install(TARGETS logger_test_node | ||
DESTINATION lib/${PROJECT_NAME}) | ||
add_executable(logger_from_child_dut logger_from_child_dut.cpp) | ||
target_link_libraries(logger_from_child_dut rclcpp::rclcpp moveit_utils) | ||
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# Install is needed to run these as launch tests | ||
install( | ||
TARGETS | ||
logger_dut | ||
logger_from_child_dut | ||
DESTINATION lib/${PROJECT_NAME} | ||
) | ||
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# Runs logget_test_node and observes ros logging | ||
add_launch_test(logger_launch_test.py) | ||
# Add the launch tests | ||
find_package(launch_testing_ament_cmake) | ||
add_launch_test(rosout_publish_test.py | ||
TARGET test-node_logging | ||
ARGS "dut:=logger_dut" | ||
) | ||
add_launch_test(rosout_publish_test.py | ||
TARGET test-node_logging_from_child | ||
ARGS "dut:=logger_from_child_dut" | ||
) |
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/********************************************************************* | ||
* Software License Agreement (BSD License) | ||
* | ||
* Copyright (c) 2023, PickNik Robotics Inc. | ||
* All rights reserved. | ||
* | ||
* Redistribution and use in source and binary forms, with or without | ||
* modification, are permitted provided that the following conditions | ||
* are met: | ||
* | ||
* * Redistributions of source code must retain the above copyright | ||
* notice, this list of conditions and the following disclaimer. | ||
* * Redistributions in binary form must reproduce the above | ||
* copyright notice, this list of conditions and the following | ||
* disclaimer in the documentation and/or other materials provided | ||
* with the distribution. | ||
* * Neither the name of Willow Garage nor the names of its | ||
* contributors may be used to endorse or promote products derived | ||
* from this software without specific prior written permission. | ||
* | ||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
* POSSIBILITY OF SUCH DAMAGE. | ||
*********************************************************************/ | ||
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/* Author: Tyler Weaver */ | ||
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#include <chrono> | ||
#include <rclcpp/rclcpp.hpp> | ||
#include <moveit/utils/logger.hpp> | ||
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int main(int argc, char** argv) | ||
{ | ||
rclcpp::init(argc, argv); | ||
rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("dut_node"); | ||
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// Set the moveit logger to be from node | ||
moveit::get_logger_mut() = node->get_logger(); | ||
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// Make a child logger | ||
const auto child_logger = moveit::make_child_logger("child"); | ||
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// publish via a timer | ||
auto wall_timer = node->create_wall_timer(std::chrono::milliseconds(100), | ||
[&] { RCLCPP_INFO(child_logger, "hello from child node!"); }); | ||
rclcpp::spin(node); | ||
} |
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