Merge branch 'feature/log' into merge/sdk_2.8.2

orbbec_camera/launch/astra.launch.py

@@ -62,6 +62,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),

orbbec_camera/launch/dabai_a.launch.py

@@ -152,6 +152,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),

orbbec_camera/launch/dabai_al.launch.py

@@ -152,6 +152,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),

orbbec_camera/launch/dabai_dcw2.launch.py

@@ -72,6 +72,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_soft_filter', default_value='true'),

orbbec_camera/launch/dabai_max_pro.launch.py

@@ -66,6 +66,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),

orbbec_camera/launch/gemini2.launch.py

@@ -84,6 +84,7 @@ def generate_launch_description():
         DeclareLaunchArgument("ir_info_url", default_value=""),
         DeclareLaunchArgument("color_info_url", default_value=""),
         DeclareLaunchArgument("log_level", default_value="none"),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument("log_file_name", default_value=""),
         DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
         DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),

orbbec_camera/launch/gemini210.launch.py

@@ -84,6 +84,7 @@ def generate_launch_description():
         DeclareLaunchArgument("ir_info_url", default_value=""),
         DeclareLaunchArgument("color_info_url", default_value=""),
         DeclareLaunchArgument("log_level", default_value="none"),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument("log_file_name", default_value=""),
         DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
         DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),

orbbec_camera/launch/gemini2L.launch.py

@@ -76,6 +76,7 @@ def generate_launch_description():
         DeclareLaunchArgument("ir_info_url", default_value=""),
         DeclareLaunchArgument("color_info_url", default_value=""),
         DeclareLaunchArgument("log_level", default_value="none"),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument("log_file_name", default_value=""),
         DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
         DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),

orbbec_camera/launch/gemini305.launch.py

@@ -214,6 +214,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_access_mode', default_value='Default'), # Default, EA or CA . only for 335le
         DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),

orbbec_camera/launch/gemini345.launch.py

@@ -151,6 +151,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),

orbbec_camera/launch/gemini345_lg.launch.py

@@ -152,6 +152,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),

orbbec_camera/launch/gemini435_le.launch.py

@@ -182,6 +182,7 @@ def generate_launch_description():
         DeclareLaunchArgument('net_device_port', default_value='0'),
         DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),

orbbec_camera/launch/gemini_330_series.launch.py

@@ -192,6 +192,7 @@ def generate_launch_description():
         DeclareLaunchArgument('device_access_mode', default_value='Default'), # Default, EA or CA . only for 335le
         DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),

orbbec_camera/launch/gemini_330_series_low_cpu.launch.py

@@ -189,6 +189,7 @@ def generate_launch_description():
         DeclareLaunchArgument('net_device_port', default_value='0'),
         DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),

orbbec_camera/launch/gemini_intra_process_demo_launch.py

@@ -111,6 +111,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('ros_log_level', default_value='info'),
         DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),

orbbec_camera/launch/lidar.launch.py

@@ -171,6 +171,16 @@ def generate_launch_description():
             default_value='none',
             description='SDK log level: none, debug, info, warn, error, fatal.'
         ),
+        DeclareLaunchArgument(
+            'ros_log_level',
+            default_value='info',
+            description='ROS log level: debug, info, warn, error, fatal.'
+        ),
+        DeclareLaunchArgument(
+            'log_file_name',
+            default_value='',
+            description='Custom log file name for SDK logs. If empty, default naming is used.'
+        ),
         DeclareLaunchArgument(
             'time_domain',
             default_value='device',  # global, device, system

orbbec_camera/src/ob_camera_node_driver.cpp

@@ -22,6 +22,7 @@
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <ament_index_cpp/get_package_prefix.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
+#include <rcutils/logging.h>
 #include <csignal>
 #include <sys/mman.h>
 #include <unistd.h>
@@ -96,6 +97,24 @@ void signalHandler(int sig) {
 
 namespace orbbec_camera {
 backward::SignalHandling OBCameraNodeDriver::sh;
+
+namespace {
+int rosLogSeverityFromString(const std::string_view &log_level) {
+  if (log_level == "debug") {
+    return RCUTILS_LOG_SEVERITY_DEBUG;
+  } else if (log_level == "info") {
+    return RCUTILS_LOG_SEVERITY_INFO;
+  } else if (log_level == "warn") {
+    return RCUTILS_LOG_SEVERITY_WARN;
+  } else if (log_level == "error") {
+    return RCUTILS_LOG_SEVERITY_ERROR;
+  } else if (log_level == "fatal") {
+    return RCUTILS_LOG_SEVERITY_FATAL;
+  }
+  return RCUTILS_LOG_SEVERITY_UNSET;
+}
+}  // namespace
+
 OBCameraNodeDriver::OBCameraNodeDriver(const rclcpp::NodeOptions &node_options)
     : Node("orbbec_camera_node", "/", node_options),
       node_options_(node_options),
@@ -204,13 +223,21 @@ void OBCameraNodeDriver::init() {
   ob::Context::setExtensionsDirectory(extension_path_.c_str());
   g_camera_name = declare_parameter<std::string>("camera_name", g_camera_name);
   auto log_level_str = declare_parameter<std::string>("log_level", "none");
+  auto ros_log_level_str = declare_parameter<std::string>("ros_log_level", "info");
   auto log_level = obLogSeverityFromString(log_level_str);
+  auto ros_log_level = rosLogSeverityFromString(ros_log_level_str);
   auto log_file_name = declare_parameter<std::string>("log_file_name", "");
   std::string pwd_dir = std::getenv("PWD") ? std::getenv("PWD") : std::getenv("HOME");
   std::string log_path = pwd_dir + "/Log/" + g_camera_name;
   // Set logger to console
   ob::Context::setLoggerToConsole(log_level);
   ob::Context::setLoggerToFile(log_level, log_path.c_str());
+  if (ros_log_level != RCUTILS_LOG_SEVERITY_UNSET) {
+    auto ret = rcutils_logging_set_logger_level(this->get_logger().get_name(), ros_log_level);
+    if (ret != RCUTILS_RET_OK) {
+      RCLCPP_WARN_STREAM(logger_, "Failed to set ROS log level to " << ros_log_level_str);
+    }
+  }
   // Set custom log file name if specified
   if (!log_file_name.empty()) {
     try {
@@ -289,7 +316,8 @@ void OBCameraNodeDriver::init() {
     RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:" << uvc_backend_);
   } else {
     ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
-    RCLCPP_INFO_STREAM(logger_, "setUvcBackendType:" << uvc_backend_);
+    RCLCPP_INFO_STREAM(logger_,
+                       "not support uvc_backend:" << uvc_backend_ << ", set to default libuvc");
   }
   ctx_->enableNetDeviceEnumeration(enumerate_net_device_);
   device_changed_callback_id_ = ctx_->registerDeviceChangedCallback(
@@ -885,11 +913,11 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
 
 std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByNetIP(
     const std::shared_ptr<ob::DeviceList> &list, const std::string &net_ip) {
-  RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
+  RCLCPP_DEBUG_STREAM_THROTTLE(logger_, *get_clock(), 5000,
-                              "Before lock: Select device net ip: " << net_ip);
+                               "Before lock: Select device net ip: " << net_ip);
   std::lock_guard<decltype(device_lock_)> lock(device_lock_);
-  RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
+  RCLCPP_DEBUG_STREAM_THROTTLE(logger_, *get_clock(), 5000,
-                              "After lock: Select device net ip: " << net_ip);
+                               "After lock: Select device net ip: " << net_ip);
   std::shared_ptr<ob::Device> device = nullptr;
   for (size_t i = 0; i < list->getCount(); i++) {
     try {
@@ -899,8 +927,8 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByNetIP(
       if (list->getIpAddress(i) == nullptr) {
         continue;
       }
-      RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
+      RCLCPP_DEBUG_STREAM_THROTTLE(logger_, *get_clock(), 5000,
-                                  "FindDeviceByNetIP device net ip " << list->getIpAddress(i));
+                                   "FindDeviceByNetIP device net ip " << list->getIpAddress(i));
       if (std::string(list->getIpAddress(i)) == net_ip) {
         RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
                                     "getDeviceByNetIP device net ip " << net_ip << " done");
@@ -937,7 +965,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
   constexpr int max_retries = 3;
   bool initialized = false;
   device_info_ = device_->getDeviceInfo();
-  RCLCPP_INFO_STREAM(logger_, "Try to connect device via " << device_info_->connectionType());
+  RCLCPP_DEBUG_STREAM(logger_, "Try to connect device via " << device_info_->connectionType());
 
   while (retry_count < max_retries && !initialized) {
     try {
@@ -1283,7 +1311,7 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
       // success get lock,break
       break;
     } else if (try_lock_result == EBUSY) {
-      RCLCPP_INFO_STREAM(logger_, "Device lock is held by another process, waiting 100ms");
+      RCLCPP_WARN_STREAM(logger_, "Device lock is held by another process, waiting 100ms");
       std::this_thread::sleep_for(std::chrono::milliseconds(100));
     } else {
       RCLCPP_ERROR_STREAM(logger_, "Failed to lock orb_device_lock_");
@@ -1309,7 +1337,7 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
     }
     auto end_time = std::chrono::high_resolution_clock::now();
     auto time_cost = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time);
-    RCLCPP_INFO_STREAM(logger_, "Select device cost " << time_cost.count() << " ms");
+    RCLCPP_DEBUG_STREAM(logger_, "Select device cost " << time_cost.count() << " ms");
     start_time = std::chrono::high_resolution_clock::now();
     initializeDevice(device);
     end_time = std::chrono::high_resolution_clock::now();

orbbec_camera/src/ob_lidar_node.cpp

@@ -64,27 +64,26 @@ void OBLidarNode::setAndGetNodeParameter(
 OBLidarNode::~OBLidarNode() noexcept { clean(); }
 
 void OBLidarNode::rebootDevice() {
-  RCLCPP_WARN_STREAM(logger_, "Reboot device");
+  RCLCPP_INFO_STREAM(logger_, "Rebooting device");
   clean();
   if (device_) {
     device_->reboot();
-    RCLCPP_WARN_STREAM(logger_, "Reboot device DONE");
+    RCLCPP_DEBUG_STREAM(logger_, "Reboot device complete");
   }
 }
 
 void OBLidarNode::clean() noexcept {
   std::lock_guard<decltype(device_lock_)> lock(device_lock_);
-  RCLCPP_WARN_STREAM(logger_, "Do destroy ~OBLidarNode");
+  RCLCPP_DEBUG_STREAM(logger_, "Destroying OBLidarNode");
   is_running_.store(false);
-  RCLCPP_WARN_STREAM(logger_, "Stop tf thread");
+  RCLCPP_DEBUG_STREAM(logger_, "Stop tf thread");
   if (tf_thread_ && tf_thread_->joinable()) {
     tf_thread_->join();
   }
-  RCLCPP_WARN_STREAM(logger_, "Stop color frame thread");
+  RCLCPP_DEBUG_STREAM(logger_, "Stop streams");
-  RCLCPP_WARN_STREAM(logger_, "stop streams");
   stopStreams();
   stopIMU();
-  RCLCPP_WARN_STREAM(logger_, "Destroy ~OBLidarNode DONE");
+  RCLCPP_DEBUG_STREAM(logger_, "OBLidarNode cleanup complete");
 }
 
 void OBLidarNode::setupTopics() {
@@ -115,9 +114,9 @@ void OBLidarNode::getParameters() {
     param_name = stream_name_[stream_index] + "_rate";
     setAndGetNodeParameter(rate_int_[stream_index], param_name, 0);
     rate_[stream_index] = OBScanRateFromInt(rate_int_[stream_index]);
-    RCLCPP_INFO_STREAM(logger_, "Input rate: " << magic_enum::enum_name(rate_[stream_index])
+    RCLCPP_DEBUG_STREAM(logger_, "Input rate: " << magic_enum::enum_name(rate_[stream_index])
-                                               << "  Input format:"
+                                                << "  Input format:"
-                                               << magic_enum::enum_name(format_[stream_index]));
+                                                << magic_enum::enum_name(format_[stream_index]));
     param_name = stream_name_[stream_index] + "_frame_id";
     std::string default_frame_id = camera_name_ + "_" + stream_name_[stream_index] + "_frame";
     setAndGetNodeParameter(frame_id_[stream_index], param_name, default_frame_id);
@@ -181,6 +180,8 @@ void OBLidarNode::getParameters() {
 }
 
 void OBLidarNode::setupDevices() {
+  RCLCPP_INFO_STREAM(logger_, "Current time domain: " << time_domain_);
+
   auto sensor_list = device_->getSensorList();
   for (size_t i = 0; i < sensor_list->getCount(); i++) {
     auto sensor = sensor_list->getSensor(i);
@@ -196,14 +197,13 @@ void OBLidarNode::setupDevices() {
   }
   for (const auto &[stream_index, enable] : enable_stream_) {
     if (enable && sensors_.find(stream_index) == sensors_.end()) {
-      RCLCPP_INFO_STREAM(logger_,
+      RCLCPP_WARN_STREAM(logger_, magic_enum::enum_name(stream_index.first)
-                         magic_enum::enum_name(stream_index.first)
+                                      << " sensor not supported by current device, skipping");
-                             << "sensor isn't supported by current device! -- Skipping...");
       enable_stream_[stream_index] = false;
     }
   }
   if (device_->isPropertySupported(OB_PROP_HEARTBEAT_BOOL, OB_PERMISSION_READ_WRITE)) {
-    RCLCPP_INFO_STREAM(logger_, "Setting heartbeat to " << (enable_heartbeat_ ? "ON" : "OFF"));
+    RCLCPP_INFO_STREAM(logger_, "Current heartbeat: " << (enable_heartbeat_ ? "ON" : "OFF"));
     TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_HEARTBEAT_BOOL, enable_heartbeat_);
   }
   if (!echo_mode_.empty() &&
@@ -214,9 +214,9 @@ void OBLidarNode::setupDevices() {
       TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_SPECIFIC_MODE_INT, 1);
     }
     RCLCPP_INFO_STREAM(
-        logger_, "Setting echo mode to "
+        logger_, "Current echo mode: " << (device_->getIntProperty(OB_PROP_LIDAR_SPECIFIC_MODE_INT)
-                     << (device_->getIntProperty(OB_PROP_LIDAR_SPECIFIC_MODE_INT) ? "First Echo"
+                                               ? "First Echo"
-                                                                                  : "Last Echo"));
+                                               : "Last Echo"));
   }
   if (repetitive_scan_mode_ != -1 &&
       device_->isPropertySupported(OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT,
@@ -229,7 +229,7 @@ void OBLidarNode::setupDevices() {
     } else {
       TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT,
                           repetitive_scan_mode_);
-      RCLCPP_INFO_STREAM(logger_, "Setting repetitive scan mode to " << device_->getIntProperty(
+      RCLCPP_INFO_STREAM(logger_, "Current repetitive scan mode: " << device_->getIntProperty(
                                       OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT));
     }
   }
@@ -242,7 +242,7 @@ void OBLidarNode::setupDevices() {
     } else {
       TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT, filter_level_);
       TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_APPLY_CONFIGS_INT, 1);
-      RCLCPP_INFO_STREAM(logger_, "Setting filter level to " << device_->getIntProperty(
+      RCLCPP_INFO_STREAM(logger_, "Current filter level: " << device_->getIntProperty(
                                       OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT));
     }
   }
@@ -255,7 +255,7 @@ void OBLidarNode::setupDevices() {
                    range.min, range.max);
     } else {
       TRY_TO_SET_PROPERTY(setFloatProperty, OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT, vertical_fov_);
-      RCLCPP_INFO_STREAM(logger_, "Setting vertical fov to " << device_->getFloatProperty(
+      RCLCPP_INFO_STREAM(logger_, "Current vertical fov: " << device_->getFloatProperty(
                                       OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT));
     }
   }
@@ -329,11 +329,11 @@ void OBLidarNode::setupProfiles() {
       stream_profile_[elem] = selected_profile;
       rate_[elem] = selected_profile->getScanRate();
       format_[elem] = selected_profile->getFormat();
-      RCLCPP_INFO_STREAM(logger_, " stream "
+      RCLCPP_DEBUG_STREAM(logger_, "stream "
-                                      << stream_name_[elem] << " is enabled - scan rate: "
+                                       << stream_name_[elem] << " is enabled - scan rate: "
-                                      << magic_enum::enum_name(selected_profile->getScanRate())
+                                       << magic_enum::enum_name(selected_profile->getScanRate())
-                                      << "  format:"
+                                       << "  format:"
-                                      << magic_enum::enum_name(selected_profile->getFormat()));
+                                       << magic_enum::enum_name(selected_profile->getFormat()));
     }
   }
   // IMU
@@ -499,7 +499,7 @@ void OBLidarNode::startIMU() {
 
 void OBLidarNode::stopStreams() {
   if (!pipeline_started_ || !pipeline_) {
-    RCLCPP_INFO_STREAM(logger_, "pipeline not started or not exist, skip stop pipeline");
+    RCLCPP_DEBUG_STREAM(logger_, "Pipeline not started or not exist, skip stop pipeline");
     return;
   }
   try {
@@ -517,7 +517,7 @@ void OBLidarNode::stopIMU() {
   }
 
   if (!imu_sync_output_start_ || !imuPipeline_) {
-    RCLCPP_INFO_STREAM(logger_, "IMU pipeline not started or not exist, skip stop imu pipeline");
+    RCLCPP_DEBUG_STREAM(logger_, "IMU pipeline not started or not exist, skip stop imu pipeline");
     return;
   }
   try {
@@ -542,10 +542,10 @@ void OBLidarNode::setupPipelineConfig() {
 
       if (enable_stream_[stream_index]) {
         auto video_profile = profile;
-        RCLCPP_INFO_STREAM(logger_,
+        RCLCPP_DEBUG_STREAM(logger_,
-                           "lidar profile: " << magic_enum::enum_name(video_profile->getScanRate())
+                            "lidar profile: " << magic_enum::enum_name(video_profile->getScanRate())
-                                             << "  "
+                                              << "  "
-                                             << magic_enum::enum_name(video_profile->getFormat()));
+                                              << magic_enum::enum_name(video_profile->getFormat()));
       }
 
       RCLCPP_INFO_STREAM(
@@ -1272,11 +1272,12 @@ void OBLidarNode::calcAndPublishStaticTransform() {
     auto timestamp = node_->now();
     publishStaticTF(timestamp, trans, Q, frame_id_[base_stream_], accel_gyro_frame_id_);
 
-    RCLCPP_INFO_STREAM(logger_, "Publishing static transform from "
+    RCLCPP_DEBUG_STREAM(logger_, "Publishing static transform from "
-                                    << frame_id_[base_stream_] << " to " << accel_gyro_frame_id_);
+                                     << frame_id_[base_stream_] << " to " << accel_gyro_frame_id_);
-    RCLCPP_INFO_STREAM(logger_, "Translation " << trans[0] << ", " << trans[1] << ", " << trans[2]);
+    RCLCPP_DEBUG_STREAM(logger_,
-    RCLCPP_INFO_STREAM(logger_, "Rotation " << Q.getX() << ", " << Q.getY() << ", " << Q.getZ()
+                        "Translation " << trans[0] << ", " << trans[1] << ", " << trans[2]);
-                                            << ", " << Q.getW());
+    RCLCPP_DEBUG_STREAM(logger_, "Rotation " << Q.getX() << ", " << Q.getY() << ", " << Q.getZ()
+                                             << ", " << Q.getW());
   }
 }