Use node logging in moveit_ros

Signed-off-by: Tyler Weaver <[email protected]>

moveit_core/utils/include/moveit/utils/logger.hpp

@@ -43,15 +43,15 @@ namespace moveit
 {
 
 // Function for getting a reference to a logger object kept in a global variable.
-// Use get_logger_mut to set the logger to a node logger.
+// Use set_logger to set the logger to a node logger.
 const rclcpp::Logger& get_logger();
 
 // Function for getting a child logger. In Humble this also creates a node.
 // Do not use this in place as it will create a new logger each time,
 // instead store it in the state of your class or method.
 rclcpp::Logger make_child_logger(const std::string& name);
 
-// Mutable access to global logger for setting to node logger.
-rclcpp::Logger& get_logger_mut();
+// Set the global logger
+void set_logger(const rclcpp::Logger& logger);
 
 }  // namespace moveit

moveit_core/utils/src/logger.cpp

@@ -43,9 +43,16 @@
 namespace moveit
 {
 
+rclcpp::Logger& get_global_logger_ref()
+{
+  static std::shared_ptr<rclcpp::Node> moveit_node = std::make_shared<rclcpp::Node>("moveit");
+  static rclcpp::Logger logger = moveit_node->get_logger();
+  return logger;
+}
+
 const rclcpp::Logger& get_logger()
 {
-  return get_logger_mut();
+  return get_global_logger_ref();
 }
 
 rclcpp::Logger make_child_logger(const std::string& name)
@@ -65,13 +72,12 @@ rclcpp::Logger make_child_logger(const std::string& name)
   }
 #endif
 
-  return get_logger_mut().get_child(name);
+  return get_global_logger_ref().get_child(name);
 }
 
-rclcpp::Logger& get_logger_mut()
+void set_logger(const rclcpp::Logger& logger)
 {
-  static rclcpp::Logger logger = rclcpp::get_logger("moveit");
-  return logger;
+  get_global_logger_ref() = logger;
 }
 
 }  // namespace moveit

moveit_core/utils/test/CMakeLists.txt

@@ -5,21 +5,34 @@ target_link_libraries(logger_dut rclcpp::rclcpp moveit_utils)
 add_executable(logger_from_child_dut logger_from_child_dut.cpp)
 target_link_libraries(logger_from_child_dut rclcpp::rclcpp moveit_utils)
 
+add_executable(logger_from_only_child_dut logger_from_only_child_dut.cpp)
+target_link_libraries(logger_from_only_child_dut rclcpp::rclcpp moveit_utils)
+
 # Install is needed to run these as launch tests
 install(
   TARGETS
     logger_dut
     logger_from_child_dut
+    logger_from_only_child_dut
   DESTINATION lib/${PROJECT_NAME}
 )
 
-# Add the launch tests
 find_package(launch_testing_ament_cmake)
+
+# Test node logger to rosout
 add_launch_test(rosout_publish_test.py
     TARGET test-node_logging
     ARGS "dut:=logger_dut"
 )
+
+# Test init node logging then log from child logger to rosout
 add_launch_test(rosout_publish_test.py
     TARGET test-node_logging_from_child
     ARGS "dut:=logger_from_child_dut"
 )
+
+# Test init only creating child logger and logging goes to rosout
+add_launch_test(rosout_publish_test.py
+    TARGET test-logger_from_only_child_dut
+    ARGS "dut:=logger_from_only_child_dut"
+)

moveit_core/utils/test/logger_dut.cpp

@@ -44,7 +44,7 @@ int main(int argc, char** argv)
   rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("dut_node");
 
   // Set the moveit logger to be from node
-  moveit::get_logger_mut() = node->get_logger();
+  moveit::set_logger(node->get_logger());
 
   // A node logger, should be in the file output and rosout
   auto wall_timer = node->create_wall_timer(std::chrono::milliseconds(100),

moveit_core/utils/test/logger_from_child_dut.cpp

@@ -44,7 +44,7 @@ int main(int argc, char** argv)
   rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("dut_node");
 
   // Set the moveit logger to be from node
-  moveit::get_logger_mut() = node->get_logger();
+  moveit::set_logger(node->get_logger());
 
   // Make a child logger
   const auto child_logger = moveit::make_child_logger("child");

moveit_core/utils/test/logger_from_only_child_dut.cpp

@@ -0,0 +1,53 @@
+/*********************************************************************
+ * 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;
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+ *  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.
+ *********************************************************************/
+
+/* Author: Tyler Weaver */
+
+#include <chrono>
+#include <rclcpp/rclcpp.hpp>
+#include <moveit/utils/logger.hpp>
+
+int main(int argc, char** argv)
+{
+  rclcpp::init(argc, argv);
+  rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("dut_node");
+
+  // Make a child logger
+  const auto child_logger = moveit::make_child_logger("child");
+
+  // publish via a timer
+  auto wall_timer = node->create_wall_timer(std::chrono::milliseconds(100),
+                                            [&] { RCLCPP_INFO(child_logger, "hello from only the child node!"); });
+  rclcpp::spin(node);
+}