refactor: remove ros_log_level argument from launch files and unify logging level handling

orbbec_camera/launch/astra.launch.py

@@ -62,7 +62,6 @@ 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/astra2.launch.py

@@ -74,7 +74,6 @@ 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_frame_sync", default_value="true"),

orbbec_camera/launch/dabai_a.launch.py

@@ -152,7 +152,6 @@ 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

@@ -152,7 +152,6 @@ 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

@@ -72,7 +72,6 @@ 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

@@ -66,7 +66,6 @@ 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/femto.launch.py

@@ -71,7 +71,6 @@ 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/femto_bolt.launch.py

@@ -74,7 +74,6 @@ 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/femto_mega.launch.py

@@ -80,7 +80,6 @@ def generate_launch_description():
         DeclareLaunchArgument("net_device_ip", default_value=""),
         DeclareLaunchArgument("net_device_port", default_value="0"),
         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

@@ -84,7 +84,6 @@ 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

@@ -84,7 +84,6 @@ 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

@@ -76,7 +76,6 @@ 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

@@ -214,7 +214,6 @@ 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/gemini305_g.launch.py

@@ -214,7 +214,6 @@ 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

@@ -151,7 +151,6 @@ 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

@@ -152,7 +152,6 @@ 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

@@ -182,7 +182,6 @@ 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

@@ -192,7 +192,6 @@ 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

@@ -189,7 +189,6 @@ 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

@@ -111,7 +111,6 @@ 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

@@ -169,12 +169,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             'log_level',
             default_value='none',
-            description='SDK log level: none, debug, info, warn, error, fatal.'
+            description='Shared SDK and ROS 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',

orbbec_camera/launch/orbbec_camera.launch.py

@@ -27,7 +27,7 @@ def generate_launch_arguments():
         #general config
         DeclareLaunchArgument('camera_model', default_value=default_camera_model),
         DeclareLaunchArgument('config_file_path', default_value=''),
-        DeclareLaunchArgument('ros_log_level', default_value='info'),
+        DeclareLaunchArgument('log_level', default_value='none'),
         #multi-device sync param
         DeclareLaunchArgument('camera_name', default_value='camera'),
         DeclareLaunchArgument('usb_port', default_value=''),

orbbec_camera/src/ob_camera_node_driver.cpp

@@ -223,9 +223,8 @@ 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 ros_log_level = rosLogSeverityFromString(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;
@@ -235,7 +234,7 @@ void OBCameraNodeDriver::init() {
   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);
+      RCLCPP_WARN_STREAM(logger_, "Failed to set ROS log level to " << log_level_str);
     }
   }
   // Set custom log file name if specified