Use child loggers

moveit_ros/warehouse/include/moveit/warehouse/constraints_storage.h

@@ -42,6 +42,8 @@
 
 #include <moveit_warehouse_export.h>
 
+#include <rclcpp/logger.hpp>
+
 namespace moveit_warehouse
 {
 typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::Constraints>::ConstPtr ConstraintsWithMetadata;
@@ -83,5 +85,6 @@ class MOVEIT_WAREHOUSE_EXPORT ConstraintsStorage : public MoveItMessageStorage
   void createCollections();
 
   ConstraintsCollection constraints_collection_;
+  rclcpp::Logger logger_;
 };
 }  // namespace moveit_warehouse

moveit_ros/warehouse/include/moveit/warehouse/planning_scene_storage.h

@@ -41,6 +41,7 @@
 #include <moveit_msgs/msg/planning_scene.hpp>
 #include <moveit_msgs/msg/motion_plan_request.hpp>
 #include <moveit_msgs/msg/robot_trajectory.hpp>
+#include <rclcpp/logger.hpp>
 
 #include <moveit_warehouse_export.h>
 
@@ -119,5 +120,6 @@ class MOVEIT_WAREHOUSE_EXPORT PlanningSceneStorage : public MoveItMessageStorage
   PlanningSceneCollection planning_scene_collection_;
   MotionPlanRequestCollection motion_plan_request_collection_;
   RobotTrajectoryCollection robot_trajectory_collection_;
+  rclcpp::Logger logger_;
 };
 }  // namespace moveit_warehouse

moveit_ros/warehouse/include/moveit/warehouse/planning_scene_world_storage.h

@@ -38,6 +38,7 @@
 
 #include <moveit/warehouse/moveit_message_storage.h>
 #include <moveit_msgs/msg/planning_scene_world.hpp>
+#include <rclcpp/logger.hpp>
 
 namespace moveit_warehouse
 {
@@ -70,5 +71,6 @@ class PlanningSceneWorldStorage : public MoveItMessageStorage
   void createCollections();
 
   PlanningSceneWorldCollection planning_scene_world_collection_;
+  rclcpp::Logger logger_;
 };
 }  // namespace moveit_warehouse

moveit_ros/warehouse/include/moveit/warehouse/state_storage.h

@@ -39,6 +39,7 @@
 #include <moveit/warehouse/moveit_message_storage.h>
 #include <moveit/macros/class_forward.h>
 #include <moveit_msgs/msg/robot_state.hpp>
+#include <rclcpp/logger.hpp>
 
 #include <moveit_warehouse_export.h>
 
@@ -78,5 +79,6 @@ class MOVEIT_WAREHOUSE_EXPORT RobotStateStorage : public MoveItMessageStorage
   void createCollections();
 
   RobotStateCollection state_collection_;
+  rclcpp::Logger logger_;
 };
 }  // namespace moveit_warehouse

moveit_ros/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h

@@ -39,6 +39,7 @@
 #include <moveit/warehouse/moveit_message_storage.h>
 #include <moveit/macros/class_forward.h>
 #include <moveit_msgs/msg/trajectory_constraints.hpp>
+#include <rclcpp/logger.hpp>
 
 namespace moveit_warehouse
 {
@@ -84,5 +85,6 @@ class TrajectoryConstraintsStorage : public MoveItMessageStorage
   void createCollections();
 
   TrajectoryConstraintsCollection constraints_collection_;
+  rclcpp::Logger logger_;
 };
 }  // namespace moveit_warehouse

moveit_ros/warehouse/include/moveit/warehouse/warehouse_connector.h

@@ -37,6 +37,7 @@
 #pragma once
 
 #include <string>
+#include <rclcpp/logger.hpp>
 
 namespace moveit_warehouse
 {
@@ -52,5 +53,6 @@ class WarehouseConnector
 private:
   std::string dbexec_;
   int child_pid_;
+  rclcpp::Logger logger_;
 };
 }  // namespace moveit_warehouse

moveit_ros/warehouse/src/constraints_storage.cpp

@@ -45,12 +45,11 @@ const std::string moveit_warehouse::ConstraintsStorage::CONSTRAINTS_ID_NAME = "c
 const std::string moveit_warehouse::ConstraintsStorage::CONSTRAINTS_GROUP_NAME = "group_id";
 const std::string moveit_warehouse::ConstraintsStorage::ROBOT_NAME = "robot_id";
 
-using moveit::get_logger;
 using warehouse_ros::Metadata;
 using warehouse_ros::Query;
 
 moveit_warehouse::ConstraintsStorage::ConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn)
-  : MoveItMessageStorage(std::move(conn))
+  : MoveItMessageStorage(std::move(conn)), logger_(moveit::make_child_logger("moveit_warehouse_constraints_storage"))
 {
   createCollections();
 }
@@ -81,7 +80,7 @@ void moveit_warehouse::ConstraintsStorage::addConstraints(const moveit_msgs::msg
   metadata->append(ROBOT_NAME, robot);
   metadata->append(CONSTRAINTS_GROUP_NAME, group);
   constraints_collection_->insert(msg, metadata);
-  RCLCPP_DEBUG(get_logger(), "%s constraints '%s'", replace ? "Replaced" : "Added", msg.name.c_str());
+  RCLCPP_DEBUG(logger_, "%s constraints '%s'", replace ? "Replaced" : "Added", msg.name.c_str());
 }
 
 bool moveit_warehouse::ConstraintsStorage::hasConstraints(const std::string& name, const std::string& robot,
@@ -158,7 +157,7 @@ void moveit_warehouse::ConstraintsStorage::renameConstraints(const std::string&
   Metadata::Ptr m = constraints_collection_->createMetadata();
   m->append(CONSTRAINTS_ID_NAME, new_name);
   constraints_collection_->modifyMetadata(q, m);
-  RCLCPP_DEBUG(get_logger(), "Renamed constraints from '%s' to '%s'", old_name.c_str(), new_name.c_str());
+  RCLCPP_DEBUG(logger_, "Renamed constraints from '%s' to '%s'", old_name.c_str(), new_name.c_str());
 }
 
 void moveit_warehouse::ConstraintsStorage::removeConstraints(const std::string& name, const std::string& robot,
@@ -171,5 +170,5 @@ void moveit_warehouse::ConstraintsStorage::removeConstraints(const std::string&
   if (!group.empty())
     q->append(CONSTRAINTS_GROUP_NAME, group);
   unsigned int rem = constraints_collection_->removeMessages(q);
-  RCLCPP_DEBUG(get_logger(), "Removed %u Constraints messages (named '%s')", rem, name.c_str());
+  RCLCPP_DEBUG(logger_, "Removed %u Constraints messages (named '%s')", rem, name.c_str());
 }

moveit_ros/warehouse/src/import_from_text.cpp

@@ -47,10 +47,10 @@
 #include <boost/program_options/variables_map.hpp>
 #include <moveit/utils/logger.hpp>
 
-using moveit::get_logger;
-
 static const std::string ROBOT_DESCRIPTION = "robot_description";
 
+using moveit::get_logger;
+
 void parseStart(std::istream& in, planning_scene_monitor::PlanningSceneMonitor* psm,
                 moveit_warehouse::RobotStateStorage* rs)
 {

moveit_ros/warehouse/src/planning_scene_storage.cpp

@@ -45,12 +45,11 @@ const std::string moveit_warehouse::PlanningSceneStorage::DATABASE_NAME = "movei
 const std::string moveit_warehouse::PlanningSceneStorage::PLANNING_SCENE_ID_NAME = "planning_scene_id";
 const std::string moveit_warehouse::PlanningSceneStorage::MOTION_PLAN_REQUEST_ID_NAME = "motion_request_id";
 
-using moveit::get_logger;
 using warehouse_ros::Metadata;
 using warehouse_ros::Query;
 
 moveit_warehouse::PlanningSceneStorage::PlanningSceneStorage(warehouse_ros::DatabaseConnection::Ptr conn)
-  : MoveItMessageStorage(std::move(conn))
+  : MoveItMessageStorage(std::move(conn)), logger_(moveit::make_child_logger("moveit_warehouse_planning_scene_storage"))
 {
   createCollections();
 }
@@ -85,7 +84,7 @@ void moveit_warehouse::PlanningSceneStorage::addPlanningScene(const moveit_msgs:
   Metadata::Ptr metadata = planning_scene_collection_->createMetadata();
   metadata->append(PLANNING_SCENE_ID_NAME, scene.name);
   planning_scene_collection_->insert(scene, metadata);
-  RCLCPP_DEBUG(get_logger(), "%s scene '%s'", replace ? "Replaced" : "Added", scene.name.c_str());
+  RCLCPP_DEBUG(logger_, "%s scene '%s'", replace ? "Replaced" : "Added", scene.name.c_str());
 }
 
 bool moveit_warehouse::PlanningSceneStorage::hasPlanningScene(const std::string& name) const
@@ -173,7 +172,7 @@ moveit_warehouse::PlanningSceneStorage::addNewPlanningRequest(const moveit_msgs:
   metadata->append(PLANNING_SCENE_ID_NAME, scene_name);
   metadata->append(MOTION_PLAN_REQUEST_ID_NAME, id);
   motion_plan_request_collection_->insert(planning_query, metadata);
-  RCLCPP_DEBUG(get_logger(), "Saved planning query '%s' for scene '%s'", id.c_str(), scene_name.c_str());
+  RCLCPP_DEBUG(logger_, "Saved planning query '%s' for scene '%s'", id.c_str(), scene_name.c_str());
   return id;
 }
 
@@ -231,7 +230,7 @@ bool moveit_warehouse::PlanningSceneStorage::getPlanningScene(PlanningSceneWithM
   std::vector<PlanningSceneWithMetadata> planning_scenes = planning_scene_collection_->queryList(q, false);
   if (planning_scenes.empty())
   {
-    RCLCPP_WARN(get_logger(), "Planning scene '%s' was not found in the database", scene_name.c_str());
+    RCLCPP_WARN(logger_, "Planning scene '%s' was not found in the database", scene_name.c_str());
     return false;
   }
   scene_m = planning_scenes.back();
@@ -251,7 +250,7 @@ bool moveit_warehouse::PlanningSceneStorage::getPlanningQuery(MotionPlanRequestW
   std::vector<MotionPlanRequestWithMetadata> planning_queries = motion_plan_request_collection_->queryList(q, false);
   if (planning_queries.empty())
   {
-    RCLCPP_ERROR(get_logger(), "Planning query '%s' not found for scene '%s'", query_name.c_str(), scene_name.c_str());
+    RCLCPP_ERROR(logger_, "Planning query '%s' not found for scene '%s'", query_name.c_str(), scene_name.c_str());
     return false;
   }
   else
@@ -369,7 +368,7 @@ void moveit_warehouse::PlanningSceneStorage::renamePlanningScene(const std::stri
   Metadata::Ptr m = planning_scene_collection_->createMetadata();
   m->append(PLANNING_SCENE_ID_NAME, new_scene_name);
   planning_scene_collection_->modifyMetadata(q, m);
-  RCLCPP_DEBUG(get_logger(), "Renamed planning scene from '%s' to '%s'", old_scene_name.c_str(), new_scene_name.c_str());
+  RCLCPP_DEBUG(logger_, "Renamed planning scene from '%s' to '%s'", old_scene_name.c_str(), new_scene_name.c_str());
 }
 
 void moveit_warehouse::PlanningSceneStorage::renamePlanningQuery(const std::string& scene_name,
@@ -382,7 +381,7 @@ void moveit_warehouse::PlanningSceneStorage::renamePlanningQuery(const std::stri
   Metadata::Ptr m = motion_plan_request_collection_->createMetadata();
   m->append(MOTION_PLAN_REQUEST_ID_NAME, new_query_name);
   motion_plan_request_collection_->modifyMetadata(q, m);
-  RCLCPP_DEBUG(get_logger(), "Renamed planning query for scene '%s' from '%s' to '%s'", scene_name.c_str(),
+  RCLCPP_DEBUG(logger_, "Renamed planning query for scene '%s' from '%s' to '%s'", scene_name.c_str(),
                old_query_name.c_str(), new_query_name.c_str());
 }
 
@@ -392,7 +391,7 @@ void moveit_warehouse::PlanningSceneStorage::removePlanningScene(const std::stri
   Query::Ptr q = planning_scene_collection_->createQuery();
   q->append(PLANNING_SCENE_ID_NAME, scene_name);
   unsigned int rem = planning_scene_collection_->removeMessages(q);
-  RCLCPP_DEBUG(get_logger(), "Removed %u PlanningScene messages (named '%s')", rem, scene_name.c_str());
+  RCLCPP_DEBUG(logger_, "Removed %u PlanningScene messages (named '%s')", rem, scene_name.c_str());
 }
 
 void moveit_warehouse::PlanningSceneStorage::removePlanningQueries(const std::string& scene_name)
@@ -401,7 +400,7 @@ void moveit_warehouse::PlanningSceneStorage::removePlanningQueries(const std::st
   Query::Ptr q = motion_plan_request_collection_->createQuery();
   q->append(PLANNING_SCENE_ID_NAME, scene_name);
   unsigned int rem = motion_plan_request_collection_->removeMessages(q);
-  RCLCPP_DEBUG(get_logger(), "Removed %u MotionPlanRequest messages for scene '%s'", rem, scene_name.c_str());
+  RCLCPP_DEBUG(logger_, "Removed %u MotionPlanRequest messages for scene '%s'", rem, scene_name.c_str());
 }
 
 void moveit_warehouse::PlanningSceneStorage::removePlanningQuery(const std::string& scene_name,
@@ -412,16 +411,16 @@ void moveit_warehouse::PlanningSceneStorage::removePlanningQuery(const std::stri
   q->append(PLANNING_SCENE_ID_NAME, scene_name);
   q->append(MOTION_PLAN_REQUEST_ID_NAME, query_name);
   unsigned int rem = motion_plan_request_collection_->removeMessages(q);
-  RCLCPP_DEBUG(get_logger(), "Removed %u MotionPlanRequest messages for scene '%s', query '%s'", rem,
-               scene_name.c_str(), query_name.c_str());
+  RCLCPP_DEBUG(logger_, "Removed %u MotionPlanRequest messages for scene '%s', query '%s'", rem, scene_name.c_str(),
+               query_name.c_str());
 }
 
 void moveit_warehouse::PlanningSceneStorage::removePlanningResults(const std::string& scene_name)
 {
   Query::Ptr q = robot_trajectory_collection_->createQuery();
   q->append(PLANNING_SCENE_ID_NAME, scene_name);
   unsigned int rem = robot_trajectory_collection_->removeMessages(q);
-  RCLCPP_DEBUG(get_logger(), "Removed %u RobotTrajectory messages for scene '%s'", rem, scene_name.c_str());
+  RCLCPP_DEBUG(logger_, "Removed %u RobotTrajectory messages for scene '%s'", rem, scene_name.c_str());
 }
 
 void moveit_warehouse::PlanningSceneStorage::removePlanningResults(const std::string& scene_name,
@@ -431,6 +430,6 @@ void moveit_warehouse::PlanningSceneStorage::removePlanningResults(const std::st
   q->append(PLANNING_SCENE_ID_NAME, scene_name);
   q->append(MOTION_PLAN_REQUEST_ID_NAME, query_name);
   unsigned int rem = robot_trajectory_collection_->removeMessages(q);
-  RCLCPP_DEBUG(get_logger(), "Removed %u RobotTrajectory messages for scene '%s', query '%s'", rem, scene_name.c_str(),
+  RCLCPP_DEBUG(logger_, "Removed %u RobotTrajectory messages for scene '%s', query '%s'", rem, scene_name.c_str(),
                query_name.c_str());
 }

moveit_ros/warehouse/src/planning_scene_world_storage.cpp

@@ -42,12 +42,12 @@
 const std::string moveit_warehouse::PlanningSceneWorldStorage::DATABASE_NAME = "moveit_planning_scene_worlds";
 const std::string moveit_warehouse::PlanningSceneWorldStorage::PLANNING_SCENE_WORLD_ID_NAME = "world_id";
 
-using moveit::get_logger;
 using warehouse_ros::Metadata;
 using warehouse_ros::Query;
 
 moveit_warehouse::PlanningSceneWorldStorage::PlanningSceneWorldStorage(warehouse_ros::DatabaseConnection::Ptr conn)
   : MoveItMessageStorage(std::move(conn))
+  , logger_(moveit::make_child_logger("moveit_warehouse_planning_scene_world_storage"))
 {
   createCollections();
 }
@@ -77,7 +77,7 @@ void moveit_warehouse::PlanningSceneWorldStorage::addPlanningSceneWorld(const mo
   Metadata::Ptr metadata = planning_scene_world_collection_->createMetadata();
   metadata->append(PLANNING_SCENE_WORLD_ID_NAME, name);
   planning_scene_world_collection_->insert(msg, metadata);
-  RCLCPP_DEBUG(get_logger(), "%s planning scene world '%s'", replace ? "Replaced" : "Added", name.c_str());
+  RCLCPP_DEBUG(logger_, "%s planning scene world '%s'", replace ? "Replaced" : "Added", name.c_str());
 }
 
 bool moveit_warehouse::PlanningSceneWorldStorage::hasPlanningSceneWorld(const std::string& name) const
@@ -133,13 +133,13 @@ void moveit_warehouse::PlanningSceneWorldStorage::renamePlanningSceneWorld(const
   Metadata::Ptr m = planning_scene_world_collection_->createMetadata();
   m->append(PLANNING_SCENE_WORLD_ID_NAME, new_name);
   planning_scene_world_collection_->modifyMetadata(q, m);
-  RCLCPP_DEBUG(get_logger(), "Renamed planning scene world from '%s' to '%s'", old_name.c_str(), new_name.c_str());
+  RCLCPP_DEBUG(logger_, "Renamed planning scene world from '%s' to '%s'", old_name.c_str(), new_name.c_str());
 }
 
 void moveit_warehouse::PlanningSceneWorldStorage::removePlanningSceneWorld(const std::string& name)
 {
   Query::Ptr q = planning_scene_world_collection_->createQuery();
   q->append(PLANNING_SCENE_WORLD_ID_NAME, name);
   unsigned int rem = planning_scene_world_collection_->removeMessages(q);
-  RCLCPP_DEBUG(get_logger(), "Removed %u PlanningSceneWorld messages (named '%s')", rem, name.c_str());
+  RCLCPP_DEBUG(logger_, "Removed %u PlanningSceneWorld messages (named '%s')", rem, name.c_str());
 }

moveit_ros/warehouse/src/state_storage.cpp

@@ -44,12 +44,11 @@ const std::string moveit_warehouse::RobotStateStorage::DATABASE_NAME = "moveit_r
 const std::string moveit_warehouse::RobotStateStorage::STATE_NAME = "state_id";
 const std::string moveit_warehouse::RobotStateStorage::ROBOT_NAME = "robot_id";
 
-using moveit::get_logger;
 using warehouse_ros::Metadata;
 using warehouse_ros::Query;
 
 moveit_warehouse::RobotStateStorage::RobotStateStorage(warehouse_ros::DatabaseConnection::Ptr conn)
-  : MoveItMessageStorage(std::move(conn))
+  : MoveItMessageStorage(std::move(conn)), logger_(moveit::make_child_logger("moveit_warehouse_robot_state_storage"))
 {
   createCollections();
 }
@@ -79,7 +78,7 @@ void moveit_warehouse::RobotStateStorage::addRobotState(const moveit_msgs::msg::
   metadata->append(STATE_NAME, name);
   metadata->append(ROBOT_NAME, robot);
   state_collection_->insert(msg, metadata);
-  RCLCPP_DEBUG(get_logger(), "%s robot state '%s'", replace ? "Replaced" : "Added", name.c_str());
+  RCLCPP_DEBUG(logger_, "%s robot state '%s'", replace ? "Replaced" : "Added", name.c_str());
 }
 
 bool moveit_warehouse::RobotStateStorage::hasRobotState(const std::string& name, const std::string& robot) const
@@ -143,7 +142,7 @@ void moveit_warehouse::RobotStateStorage::renameRobotState(const std::string& ol
   Metadata::Ptr m = state_collection_->createMetadata();
   m->append(STATE_NAME, new_name);
   state_collection_->modifyMetadata(q, m);
-  RCLCPP_DEBUG(get_logger(), "Renamed robot state from '%s' to '%s'", old_name.c_str(), new_name.c_str());
+  RCLCPP_DEBUG(logger_, "Renamed robot state from '%s' to '%s'", old_name.c_str(), new_name.c_str());
 }
 
 void moveit_warehouse::RobotStateStorage::removeRobotState(const std::string& name, const std::string& robot)
@@ -153,5 +152,5 @@ void moveit_warehouse::RobotStateStorage::removeRobotState(const std::string& na
   if (!robot.empty())
     q->append(ROBOT_NAME, robot);
   unsigned int rem = state_collection_->removeMessages(q);
-  RCLCPP_DEBUG(get_logger(), "Removed %u RobotState messages (named '%s')", rem, name.c_str());
+  RCLCPP_DEBUG(logger_, "Removed %u RobotState messages (named '%s')", rem, name.c_str());
 }

moveit_ros/warehouse/src/trajectory_constraints_storage.cpp

@@ -45,12 +45,12 @@ const std::string moveit_warehouse::TrajectoryConstraintsStorage::CONSTRAINTS_ID
 const std::string moveit_warehouse::TrajectoryConstraintsStorage::CONSTRAINTS_GROUP_NAME = "group_id";
 const std::string moveit_warehouse::TrajectoryConstraintsStorage::ROBOT_NAME = "robot_id";
 
-using moveit::get_logger;
 using warehouse_ros::Metadata;
 using warehouse_ros::Query;
 
 moveit_warehouse::TrajectoryConstraintsStorage::TrajectoryConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn)
   : MoveItMessageStorage(std::move(conn))
+  , logger_(moveit::make_child_logger("moveit_warehouse_trajectory_constraints_storage"))
 {
   createCollections();
 }
@@ -83,7 +83,7 @@ void moveit_warehouse::TrajectoryConstraintsStorage::addTrajectoryConstraints(
   metadata->append(ROBOT_NAME, robot);
   metadata->append(CONSTRAINTS_GROUP_NAME, group);
   constraints_collection_->insert(msg, metadata);
-  RCLCPP_DEBUG(get_logger(), "%s constraints '%s'", replace ? "Replaced" : "Added", name.c_str());
+  RCLCPP_DEBUG(logger_, "%s constraints '%s'", replace ? "Replaced" : "Added", name.c_str());
 }
 
 bool moveit_warehouse::TrajectoryConstraintsStorage::hasTrajectoryConstraints(const std::string& name,
@@ -165,7 +165,7 @@ void moveit_warehouse::TrajectoryConstraintsStorage::renameTrajectoryConstraints
   Metadata::Ptr m = constraints_collection_->createMetadata();
   m->append(CONSTRAINTS_ID_NAME, new_name);
   constraints_collection_->modifyMetadata(q, m);
-  RCLCPP_DEBUG(get_logger(), "Renamed constraints from '%s' to '%s'", old_name.c_str(), new_name.c_str());
+  RCLCPP_DEBUG(logger_, "Renamed constraints from '%s' to '%s'", old_name.c_str(), new_name.c_str());
 }
 
 void moveit_warehouse::TrajectoryConstraintsStorage::removeTrajectoryConstraints(const std::string& name,
@@ -179,5 +179,5 @@ void moveit_warehouse::TrajectoryConstraintsStorage::removeTrajectoryConstraints
   if (!group.empty())
     q->append(CONSTRAINTS_GROUP_NAME, group);
   unsigned int rem = constraints_collection_->removeMessages(q);
-  RCLCPP_DEBUG(get_logger(), "Removed %u TrajectoryConstraints messages (named '%s')", rem, name.c_str());
+  RCLCPP_DEBUG(logger_, "Removed %u TrajectoryConstraints messages (named '%s')", rem, name.c_str());
 }