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Added log_to_rosout_level option (to redirect some internal rtabmap's logs to rosout, default disabled)

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matlabbe
2022-11-28 16:02:54 -08:00
parent 671c80dc3f
commit 89f46c10d1
5 changed files with 95 additions and 0 deletions
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src/CoreWrapper.cpp
+6
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@@ -174,6 +174,11 @@ void CoreWrapper::onInit()
}
}
int eventLevel = ULogger::kFatal;
pnh.param("log_to_rosout_level", eventLevel, eventLevel);
UASSERT(eventLevel >= ULogger::kDebug && eventLevel <= ULogger::kFatal);
ULogger::setEventLevel((ULogger::Level)eventLevel);
pnh.param("publish_tf", publishTf, publishTf);
pnh.param("tf_delay", tfDelay, tfDelay);
if(pnh.hasParam("tf_prefix"))
@@ -230,6 +235,7 @@ void CoreWrapper::onInit()
groundTruthBaseFrameId_.c_str());
}
NODELET_INFO("rtabmap: map_frame_id = %s", mapFrameId_.c_str());
NODELET_INFO("rtabmap: log_to_rosout_level = %d", eventLevel);
NODELET_INFO("rtabmap: initial_pose = %s", initialPoseStr.c_str());
NODELET_INFO("rtabmap: use_action_for_goal = %s", useActionForGoal_?"true":"false");
NODELET_INFO("rtabmap: tf_delay = %f", tfDelay);
src/OdometryROS.cpp
+6
View File
@@ -151,6 +151,11 @@ void OdometryROS::onInit()
pnh.param("wait_imu_to_init", waitIMUToinit_, waitIMUToinit_);
int eventLevel = ULogger::kFatal;
pnh.param("log_to_rosout_level", eventLevel, eventLevel);
UASSERT(eventLevel >= ULogger::kDebug && eventLevel <= ULogger::kFatal);
ULogger::setEventLevel((ULogger::Level)eventLevel);
if(publishTf_ && !guessFrameId_.empty() && guessFrameId_.compare(odomFrameId_) == 0)
{
NODELET_WARN( "\"publish_tf\" and \"guess_frame_id\" cannot be used "
@@ -163,6 +168,7 @@ void OdometryROS::onInit()
NODELET_INFO("Odometry: publish_tf = %s", publishTf_?"true":"false");
NODELET_INFO("Odometry: wait_for_transform = %s", waitForTransform_?"true":"false");
NODELET_INFO("Odometry: wait_for_transform_duration = %f", waitForTransformDuration_);
NODELET_INFO("Odometry: log_to_rosout_level = %d", eventLevel);
NODELET_INFO("Odometry: initial_pose = %s", initialPose.prettyPrint().c_str());
NODELET_INFO("Odometry: ground_truth_frame_id = %s", groundTruthFrameId_.c_str());
NODELET_INFO("Odometry: ground_truth_base_frame_id = %s", groundTruthBaseFrameId_.c_str());