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Feature: all MOLA modules got its MRPT logger to ROS console for easier debugging #75

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Jan 28, 2025
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8 changes: 8 additions & 0 deletions mola_bridge_ros2/include/mola_bridge_ros2/BridgeROS2.h
Original file line number Diff line number Diff line change
Expand Up @@ -322,6 +322,14 @@ class BridgeROS2 : public RawDataSourceBase, public mola::RawDataConsumer
void internalAnalyzeTopicsToSubscribe(const mrpt::containers::yaml& ds_subscribe);

void publishStaticTFs();

void redirectMolaModuleOutputToROSConsole(mola::ExecutableBase::Ptr& module);
std::set<std::string> already_handled_modules_;
std::vector<std::weak_ptr<mola::ExecutableBase>> already_handled_consoles_;
std::optional<mrpt::system::output_logger_callback_t> mrpt2ros_log_cb_;

// Undo redirectMolaModuleOutputToROSConsole(), before the node is destructed
void unredirectMolaModuleOutput();
};

} // namespace mola
67 changes: 67 additions & 0 deletions mola_bridge_ros2/src/BridgeROS2.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -159,6 +159,9 @@ void BridgeROS2::ros_node_thread_main(Yaml cfg)
// Spin:
rclcpp::spin(rosNode_);

// Unregister MRPT -> ROS console callbacks:
unredirectMolaModuleOutput();

rclcpp::shutdown();
}
catch (const std::exception& e)
Expand Down Expand Up @@ -924,6 +927,10 @@ void BridgeROS2::doLookForNewMolaSubs()

auto lck = mrpt::lockHelper(molaSubsMtx_);

// All of them: redirect output to ros console:
auto listAll = this->findService<mola::ExecutableBase>();
for (auto& module : listAll) redirectMolaModuleOutputToROSConsole(module);

// RawDataSourceBase:
auto listRDS = this->findService<mola::RawDataSourceBase>();
for (auto& module : listRDS)
Expand Down Expand Up @@ -1568,3 +1575,63 @@ void BridgeROS2::internalPublishGridMap(
pubMeta->publish(gridMsg.info);
}
}

void BridgeROS2::redirectMolaModuleOutputToROSConsole(mola::ExecutableBase::Ptr& module)
{
ASSERT_(module);

if (already_handled_modules_.count(module->getModuleInstanceName()) != 0)
return; // already done

already_handled_modules_.insert(module->getModuleInstanceName()); // mark as done
already_handled_consoles_.push_back(module);

// Redirect MRPT logger to ROS logger:
module->logging_enable_console_output = false; // No console, go thru ROS

if (!mrpt2ros_log_cb_)
{
auto node = rosNode();
mrpt2ros_log_cb_ = [node](
std::string_view msg, const mrpt::system::VerbosityLevel level,
[[maybe_unused]] std::string_view loggerName,
[[maybe_unused]] const mrpt::Clock::time_point timestamp)
{
switch (level)
{
case mrpt::system::LVL_DEBUG:
RCLCPP_DEBUG_STREAM(node->get_logger(), msg);
break;
case mrpt::system::LVL_INFO:
RCLCPP_INFO_STREAM(node->get_logger(), msg);
break;
case mrpt::system::LVL_WARN:
RCLCPP_WARN_STREAM(node->get_logger(), msg);
break;
case mrpt::system::LVL_ERROR:
RCLCPP_ERROR_STREAM(node->get_logger(), msg);
break;
default:
break;
};
};
}

module->logRegisterCallback(*mrpt2ros_log_cb_);
}

void BridgeROS2::unredirectMolaModuleOutput()
{
if (!mrpt2ros_log_cb_) return;

for (const auto& weakPtrToModule : already_handled_consoles_)
{
auto mod = weakPtrToModule.lock();
if (!mod) continue;

mod->setVerbosityLevelForCallbacks(mrpt::system::LVL_ERROR);
mod->logging_enable_console_output = true;
// mod->logDeregisterCallback(*mrpt2ros_log_cb_);
}
already_handled_consoles_.clear();
}
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