Fix ANSI escape code pollution in log output (backport #2741)

controller_manager/controller_manager/controller_manager_services.py

@@ -38,17 +38,30 @@
 from ros2param.api import call_set_parameters
 
 
-# from https://stackoverflow.com/a/287944
+import os
+import sys
+
+
+def _color_enabled():
+    """Respect RCUTILS_COLORIZED_OUTPUT: 0=off, 1=on, unset=auto-detect TTY."""
+    env = os.getenv("RCUTILS_COLORIZED_OUTPUT")
+    if env == "0":
+        return False
+    if env == "1":
+        return True
+    return sys.stdout.isatty()
+
+
 class bcolors:
-    MAGENTA = "\033[95m"
-    OKBLUE = "\033[94m"
-    OKCYAN = "\033[96m"
-    OKGREEN = "\033[92m"
-    WARNING = "\033[93m"
-    FAIL = "\033[91m"
-    ENDC = "\033[0m"
-    BOLD = "\033[1m"
-    UNDERLINE = "\033[4m"
+    MAGENTA = "\033[95m" if _color_enabled() else ""
+    OKBLUE = "\033[94m" if _color_enabled() else ""
+    OKCYAN = "\033[96m" if _color_enabled() else ""
+    OKGREEN = "\033[92m" if _color_enabled() else ""
+    WARNING = "\033[93m" if _color_enabled() else ""
+    FAIL = "\033[91m" if _color_enabled() else ""
+    ENDC = "\033[0m" if _color_enabled() else ""
+    BOLD = "\033[1m" if _color_enabled() else ""
+    UNDERLINE = "\033[4m" if _color_enabled() else ""
 
 
 class ServiceNotFoundError(Exception):

controller_manager/controller_manager/hardware_spawner.py

@@ -19,9 +19,8 @@
 from controller_manager import (
     list_hardware_components,
     set_hardware_component_state,
-    bcolors,
 )
-from controller_manager.controller_manager_services import ServiceNotFoundError
+from controller_manager.controller_manager_services import ServiceNotFoundError, bcolors
 
 from lifecycle_msgs.msg import State
 import rclpy
@@ -93,7 +92,11 @@ def configure_component(node, controller_manager_name, component_to_configure):
     inactive_state.id = State.PRIMARY_STATE_INACTIVE
     inactive_state.label = "inactive"
     handle_set_component_state_service_call(
-        node, controller_manager_name, component_to_configure, inactive_state, "configured"
+        node,
+        controller_manager_name,
+        component_to_configure,
+        inactive_state,
+        "configured",
     )
 
 
@@ -154,7 +157,10 @@ def main(args=None):
     try:
         for hardware_component in hardware_components:
             if not is_hardware_component_loaded(
-                node, controller_manager_name, hardware_component, controller_manager_timeout
+                node,
+                controller_manager_name,
+                hardware_component,
+                controller_manager_timeout,
             ):
                 node.get_logger().warning(
                     f"{bcolors.WARNING}Hardware Component is not loaded - state can not be changed.{bcolors.ENDC}"

controller_manager/controller_manager/spawner.py

@@ -28,10 +28,9 @@
     unload_controller,
     set_controller_parameters,
     set_controller_parameters_from_param_files,
-    bcolors,
 )
 from controller_manager_msgs.srv import SwitchController
-from controller_manager.controller_manager_services import ServiceNotFoundError
+from controller_manager.controller_manager_services import ServiceNotFoundError, bcolors
 
 from filelock import Timeout, FileLock
 import rclpy
@@ -51,7 +50,8 @@ def combine_name_and_namespace(name_and_namespace):
 def find_node_and_namespace(node, full_node_name):
     node_names_and_namespaces = node.get_node_names_and_namespaces()
     return first_match(
-        node_names_and_namespaces, lambda n: combine_name_and_namespace(n) == full_node_name
+        node_names_and_namespaces,
+        lambda n: combine_name_and_namespace(n) == full_node_name,
     )
 
 

controller_manager/doc/userdoc.rst

@@ -494,3 +494,14 @@ The ``time`` argument in the ``read`` and ``write`` methods of the hardware comp
 The ``period`` argument in the ``read``, ``update`` and ``write`` methods is calculated using the trigger clock of type ``RCL_STEADY_TIME`` so it is always monotonic.
 
 The reason behind using different clocks is to avoid the issues related to the affect of system time changes in the realtime loops. The ``ros2_control_node`` now also detects the overruns caused by the system time changes and longer execution times of the controllers and hardware components. The controller manager will print a warning message if the controller or hardware component misses the update cycle due to the system time changes or longer execution times.
+
+Color Output Handling
+^^^^^^^^^^^^^^^^^^^^^
+
+The helper scripts (``spawner`` and ``hardware_spawner``) now use an environment-aware ``bcolors`` class.
+The color output automatically adapts to the environment:
+
+* ``RCUTILS_COLORIZED_OUTPUT=0`` -> disables color output
+* ``RCUTILS_COLORIZED_OUTPUT=1`` -> forces color output
+* Unset -> automatically detects TTY and enables color only in interactive
+  terminals

doc/release_notes.rst

@@ -18,6 +18,8 @@ controller_manager
 * The controller manager now supports switching (activating and deactivating) controllers in both realtime and non-realtime modes. This is controlled by the parameter ``activate_asap`` of the ``switch_controllers`` service (`#2452 <https://github.com/ros-controls/ros2_control/pull/2453>`_).
 * The spawner now supports two new arguments ``--switch-asap`` and ``--no-switch-asap`` to control the behaviour of the spawner when switching controllers to be in realtime loop (or) non-realtime loop. By default, it is set to ``--no-switch-asap`` because when activating multiple controllers at same time might affect the realtime loop performance (`#2452 <https://github.com/ros-controls/ros2_control/pull/2453>`_).
 * New parameters ``overruns.manage`` and ``overruns.print_warnings`` were added to control the behavior of the controller manager/ros2_control_node when overruns occur (`#2546 <https://github.com/ros-controls/ros2_control/pull/2546/files>`_).
+* The ``bcolors`` class now respects the ``RCUTILS_COLORIZED_OUTPUT`` environment
+  variable to automatically disable colors in non-TTY and CI environments.
 
 
 hardware_interface
@@ -32,6 +34,7 @@ ros2controlcli
 **************
 * The CLI verbs ``list_hardware_components`` and ``list_hardware_interfaces`` will now show the data type used by the internal Command and State interfaces (`#2204 <https://github.com/ros-controls/ros2_control/pull/2204>`_).
 
+
 transmission_interface
 **********************
 * The ``simple_transmission`` and ``differential_transmission`` now also support the ``force`` interface (`#2588 <https://github.com/ros-controls/ros2_control/pull/2588>`_).