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mergify[bot]Nils-ChristianIsekechristophebedard
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Add $ to Demos (backport #5352) (#5392)
Signed-off-by: Nils-Christian Iseke <[email protected]> Signed-off-by: Nils-Christian Iseke <[email protected]> Signed-off-by: Christophe Bedard <[email protected]> Co-authored-by: Christophe Bedard <[email protected]> (cherry picked from commit 8d1b99d) Signed-off-by: Christophe Bedard <[email protected]> Co-authored-by: Nils-Christian Iseke <[email protected]> Co-authored-by: Christophe Bedard <[email protected]>
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‎source/Tutorials/Demos/Content-Filtering-Subscription.rst

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@@ -132,7 +132,7 @@ The ``ContentFilteringPublisher`` node publishes simulated temperature data star
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We can run the demo by running the ``ros2 run demo_nodes_cpp content_filtering_publisher`` executable (don't forget to source the setup file first):
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.. code-block:: bash
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.. code-block:: console
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$ ros2 run demo_nodes_cpp content_filtering_publisher
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[INFO] [1651094594.822753479] [content_filtering_publisher]: Publishing: '-100.000000'
@@ -248,7 +248,7 @@ Applications can use the ``is_cft_enabled`` method to check if content filtering
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To test content filtering subscription, let's run it:
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.. code-block:: console
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$ ros2 run demo_nodes_cpp content_filtering_subscriber
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[INFO] [1651094590.682660703] [content_filtering_subscriber]: subscribed to topic "/temperature" with content filter options "data < %0 OR data > %1, {-30.000000, 100.000000}"
@@ -277,7 +277,7 @@ You should see a message showing the content filtering options used and logs for
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If content filtering is not supported by the RMW implementation, the subscription will still be created without content filtering enabled.
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We can try that by executing ``RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run demo_nodes_cpp content_filtering_publisher``.
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.. code-block:: console
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$ RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run demo_nodes_cpp content_filtering_subscriber
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[WARN] [1651096637.893842072] [content_filtering_subscriber]: Content filter is not enabled since it is not supported

‎source/Tutorials/Demos/Intra-Process-Communication.rst

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@@ -135,7 +135,7 @@ This demonstrates that intra process communication is indeed working and unneces
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Let's run the demo by executing ``ros2 run intra_process_demo two_node_pipeline`` executable (don't forget to source the setup file first):
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.. code-block:: console
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$ ros2 run intra_process_demo two_node_pipeline
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Published message with value: 0, and address: 0x7fb02303faf0
@@ -263,7 +263,7 @@ Because the message is being published and subscribed to as a ``unique_ptr`` the
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To test those expectations, let's run it:
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.. code-block:: console
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$ ros2 run intra_process_demo cyclic_pipeline
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Published first message with value: 42, and address: 0x7fd2ce0a2bc0
@@ -302,7 +302,7 @@ In this demo we'll use OpenCV to capture, annotate, and then view images.
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If you are on macOS and these examples do not work or you receive an error like ``ddsi_conn_write failed -1``, then you'll need to increase your system wide UDP packet size:
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.. code-block:: console
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$ sudo sysctl -w net.inet.udp.recvspace=209715
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$ sudo sysctl -w net.inet.udp.maxdgram=65500
@@ -329,9 +329,9 @@ The watermark and image view nodes are designed to modify the image without copy
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Let's run the demo by executing the following executable:
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.. code-block:: bash
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.. code-block:: console
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ros2 run intra_process_demo image_pipeline_all_in_one
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$ ros2 run intra_process_demo image_pipeline_all_in_one
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You should see something like this:
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@@ -352,9 +352,9 @@ All the nodes are still in the same process, but now two image view windows shou
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(Note for macOS users: your image view windows might be on top of each other).
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Let's run it with the command:
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.. code-block:: console
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ros2 run intra_process_demo image_pipeline_with_two_image_view
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$ ros2 run intra_process_demo image_pipeline_with_two_image_view
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.. image:: images/intra-process-demo-pipeline-two-windows-copy.png

‎source/Tutorials/Demos/Logging-and-logger-configuration.rst

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@@ -147,9 +147,9 @@ In this `demo <https://github.com/ros2/demos/tree/{REPOS_FILE_BRANCH}/logging_de
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Start the demo with:
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.. code-block:: console
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ros2 run logging_demo logging_demo_main
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$ ros2 run logging_demo logging_demo_main
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Over time you will see output from various log calls with different properties.
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To start with you will only see output from log calls with severity ``INFO`` and above (``WARN``, ``ERROR``, ``FATAL``).
@@ -170,24 +170,24 @@ For example, to set the logging directory to ``~/my_logs``:
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.. group-tab:: Linux
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.. code-block:: console
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export ROS_LOG_DIR=~/my_logs
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ros2 run logging_demo logging_demo_main
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$ export ROS_LOG_DIR=~/my_logs
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$ ros2 run logging_demo logging_demo_main
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.. code-block:: console
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export ROS_LOG_DIR=~/my_logs
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ros2 run logging_demo logging_demo_main
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$ export ROS_LOG_DIR=~/my_logs
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$ ros2 run logging_demo logging_demo_main
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.. code-block:: console
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set "ROS_LOG_DIR=~/my_logs"
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ros2 run logging_demo logging_demo_main
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$ set "ROS_LOG_DIR=~/my_logs"
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$ ros2 run logging_demo logging_demo_main
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You will then find the logs under ``~/my_logs/``.
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.. code-block:: console
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export ROS_HOME=~/my_ros_home
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ros2 run logging_demo logging_demo_main
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$ export ROS_HOME=~/my_ros_home
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$ ros2 run logging_demo logging_demo_main
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.. code-block:: console
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export ROS_HOME=~/my_ros_home
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ros2 run logging_demo logging_demo_main
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$ export ROS_HOME=~/my_ros_home
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$ ros2 run logging_demo logging_demo_main
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.. code-block:: console
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set "ROS_HOME=~/my_ros_home"
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ros2 run logging_demo logging_demo_main
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$ set "ROS_HOME=~/my_ros_home"
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$ ros2 run logging_demo logging_demo_main
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You will then find the logs under ``~/my_ros_home/log/``.
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@@ -239,17 +239,17 @@ In the meantime, this demo provides an **example** service that can be called ex
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The demo previously started is already running this example service.
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To set the level of the demo's logger back to ``INFO``\ , call the service with:
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.. code-block:: console
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ros2 service call /config_logger logging_demo/srv/ConfigLogger "{logger_name: 'logger_usage_demo', level: INFO}"
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$ ros2 service call /config_logger logging_demo/srv/ConfigLogger "{logger_name: 'logger_usage_demo', level: INFO}"
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This service call will work on any logger that is running in the process provided that you know its name.
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This includes the loggers in the ROS 2 core, such as ``rcl`` (the common client library package).
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To enable debug logging for ``rcl``, call:
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ros2 service call /config_logger logging_demo/srv/ConfigLogger "{logger_name: 'rcl', level: DEBUG}"
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$ ros2 service call /config_logger logging_demo/srv/ConfigLogger "{logger_name: 'rcl', level: DEBUG}"
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You should see debug output from ``rcl`` start to show.
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Shell 1:
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ros2 run rclcpp_components component_container
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$ ros2 run rclcpp_components component_container
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ros2 component load /ComponentManager composition composition::Talker
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$ ros2 component load /ComponentManager composition composition::Talker
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And then when you want to enable debug logging, load the ``LoggerConfig`` component with:
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ros2 component load /ComponentManager logging_demo logging_demo::LoggerConfig
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$ ros2 component load /ComponentManager logging_demo logging_demo::LoggerConfig
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And finally, configure all unset loggers to the debug severity by addressing the empty-named logger.
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Note that loggers that have been specifically configured to use a particular severity will not be affected by this call.
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Shell 2:
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ros2 service call /config_logger logging_demo/srv/ConfigLogger "{logger_name: '', level: DEBUG}"
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$ ros2 service call /config_logger logging_demo/srv/ConfigLogger "{logger_name: '', level: DEBUG}"
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You should see debug output from any previously unset loggers in the process start to appear, including from the ROS 2 core.
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Restart the demo including the following command line argument:
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ros2 run logging_demo logging_demo_main --ros-args --log-level debug
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$ ros2 run logging_demo logging_demo_main --ros-args --log-level debug
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This configures the default severity for any unset logger to the debug severity level.
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You should see debug output from loggers from the demo itself and from the ROS 2 core.
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ros2 run logging_demo logging_demo_main --ros-args --log-level logger_usage_demo:=debug
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$ ros2 run logging_demo logging_demo_main --ros-args --log-level logger_usage_demo:=debug
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Console output formatting
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export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"
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ros2 run logging_demo logging_demo_main
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$ export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"
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$ ros2 run logging_demo logging_demo_main
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export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"
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ros2 run logging_demo logging_demo_main
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$ export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"
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$ ros2 run logging_demo logging_demo_main
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set "RCUTILS_CONSOLE_OUTPUT_FORMAT=[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"
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ros2 run logging_demo logging_demo_main
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$ set "RCUTILS_CONSOLE_OUTPUT_FORMAT=[{severity} {time}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"
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$ ros2 run logging_demo logging_demo_main
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You should see the timestamp in seconds and the function name, filename and line number additionally printed with each message.
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*The ``time`` option is only supported as of the ROS 2 Bouncy release.*
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export RCUTILS_COLORIZED_OUTPUT=0 # 1 for forcing it
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ros2 run logging_demo logging_demo_main
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$ export RCUTILS_COLORIZED_OUTPUT=0 # 1 for forcing it
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$ ros2 run logging_demo logging_demo_main
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export RCUTILS_COLORIZED_OUTPUT=0 # 1 for forcing it
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ros2 run logging_demo logging_demo_main
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$ ros2 run logging_demo logging_demo_main
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set "RCUTILS_COLORIZED_OUTPUT=0" :: 1 for forcing it
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ros2 run logging_demo logging_demo_main
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$ ros2 run logging_demo logging_demo_main
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You should see that debug, warn, error and fatal logs aren't colorized now.
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export RCUTILS_LOGGING_USE_STDOUT=1
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$ export RCUTILS_LOGGING_USE_STDOUT=1
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export RCUTILS_LOGGING_USE_STDOUT=1
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$ export RCUTILS_LOGGING_USE_STDOUT=1
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set "RCUTILS_LOGGING_USE_STDOUT=1"
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$ set "RCUTILS_LOGGING_USE_STDOUT=1"
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Line buffered console output
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$ export RCUTILS_LOGGING_BUFFERED_STREAM=1
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set "RCUTILS_LOGGING_BUFFERED_STREAM=1"
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$ set "RCUTILS_LOGGING_BUFFERED_STREAM=1"
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Then run:
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ros2 run logging_demo logging_demo_main
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$ ros2 run logging_demo logging_demo_main

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