Global logger for logging without a node

Rufus
1083 ●45 ●102 ●89

So far, all the examples I've seen for logging involves using the get_logger() method of rclcpp::Node, e.g.

RCLCPP_INFO(get_logger(), "my_message");

Is there a global logger that is can be used for logging without having access to a node?

3

Rufus
1083 ●45 ●102 ●89

Turns out loggers can be created on the fly with rclcpp::get_logger for your logging purposes. e.g.

RCLCPP_INFO(rclcpp::get_logger("my_logger"), "my_message");

Also, remember to set the following if you're not seeing any log outputs (took me way too long to figure it out...)

export RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED=1

In newer ROS versions, it should be

export RCUTILS_LOGGING_USE_STDOUT=1 && export RCUTILS_LOGGING_BUFFERED_STREAM=1

Comments

Does someone have an answer for rclpy?

2

zkytony
178 ●17 ●27 ●33

In response to @tnajjar, to do this in Python, use RcutilsLogger under rclpy.impl

from rclpy.impl import rcutils_logger
logger = rcutils_logger.RcutilsLogger(name="my_logger")
logger.info("Hello World")

You will see something like

[INFO] [1681758901.959964134] [my_logger]: Hello World

Underneath the hood, some function from rcutils is called that does the job of logging.

Thank you, I'll definitely try it out