Log environment variables with which gazebo was launched

[arjo129]

🎉 New feature

Closes #

Summary

This can be useful for debugging scenarios where we want to debug why a simulation is not loading the correct files.

Test it

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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[ahcorde]

This is something usefull, let me know when it's ready for review

[azeey]

Great idea! Just a small comment.

[azeey]

I'm not sure if it's always safe to print the environment variables. Maybe be it can be enabled via a launch config?

[arjo129]

How about using a LogDebug? So by default it wont be enabled but if we set the log level to debug the information is shown.

[azeey]

I'd prefer to be more explicit. Consider the scenario that ROS log messages are being sent to a remote logging service. If env contains credentials, then this is a potential leak.

[azeey]

I think we can deduplicate this

Suggested change

	if debug_env == 'true':
	return [
	LogInfo(f"Launching gazebo with the environment variables: {env}"),
	ExecuteProcess(
	cmd=[exec, exec_args, '--force-version', gz_version],
	name='gazebo',
	output='screen',
	additional_env=env,
	shell=True,
	prefix=debug_prefix,
	on_exit=on_exit
	)]
	else:
	return [
	ExecuteProcess(
	cmd=[exec, exec_args, '--force-version', gz_version],
	name='gazebo',
	output='screen',
	additional_env=env,
	shell=True,
	prefix=debug_prefix,
	on_exit=on_exit
	)]
	ld = [ExecuteProcess(
	cmd=[exec, exec_args, '--force-version', gz_version],
	name='gazebo',
	output='screen',
	additional_env=env,
	shell=True,
	prefix=debug_prefix,
	on_exit=on_exit
	)
	]
	if debug_env == 'true':
	ld.insert(0, LogInfo(f"Launching gazebo with the environment variables: {env}"))
	return ld