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Added "log_debug", "log_info", "log_warning" and "log_error" services

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This commit is contained in:
matlabbe
2015-11-19 12:26:29 -05:00
parent 4f49425eac
commit aa05bc4672
5 changed files with 81 additions and 0 deletions
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src/CoreNode.cpp
+4
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@@ -56,6 +56,10 @@ int main(int argc, char** argv)
{
ULogger::setLevel(ULogger::kInfo);
}
else if(strcmp(argv[i], "--uwarn") == 0)
{
ULogger::setLevel(ULogger::kWarning);
}
else if(strcmp(argv[i], "--params") == 0 || strcmp(argv[i], "--params-all") == 0)
{
rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
src/CoreWrapper.cpp
+30
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@@ -414,6 +414,11 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
octomapBinarySrv_ = nh.advertiseService("octomap_binary", &CoreWrapper::octomapBinaryCallback, this);
octomapFullSrv_ = nh.advertiseService("octomap_full", &CoreWrapper::octomapFullCallback, this);
#endif
//private services
setLogDebugSrv_ = pnh.advertiseService("log_debug", &CoreWrapper::setLogDebug, this);
setLogInfoSrv_ = pnh.advertiseService("log_info", &CoreWrapper::setLogInfo, this);
setLogWarnSrv_ = pnh.advertiseService("log_warning", &CoreWrapper::setLogWarn, this);
setLogErrorSrv_ = pnh.advertiseService("log_error", &CoreWrapper::setLogError, this);
setupCallbacks(subscribeDepth, subscribeLaserScan, subscribeStereo, queueSize, stereoApproxSync, depthCameras);
@@ -1615,6 +1620,31 @@ bool CoreWrapper::setModeMappingCallback(std_srvs::Empty::Request&, std_srvs::Em
return true;
}
bool CoreWrapper::setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("rtabmap: Set log level to Debug");
ULogger::setLevel(ULogger::kDebug);
return true;
}
bool CoreWrapper::setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("rtabmap: Set log level to Info");
ULogger::setLevel(ULogger::kInfo);
return true;
}
bool CoreWrapper::setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("rtabmap: Set log level to Warning");
ULogger::setLevel(ULogger::kWarning);
return true;
}
bool CoreWrapper::setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("rtabmap: Set log level to Error");
ULogger::setLevel(ULogger::kError);
return true;
}
bool CoreWrapper::getMapCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& res)
{
ROS_INFO("rtabmap: Getting map (global=%s optimized=%s graphOnly=%s)...",
src/CoreWrapper.h
+8
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@@ -194,6 +194,10 @@ private:
bool backupDatabaseCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setModeLocalizationCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setModeMappingCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool getMapCallback(rtabmap_ros::GetMap::Request& req, rtabmap_ros::GetMap::Response& res);
bool getProjMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
bool getGridMapCallback(nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res);
@@ -374,6 +378,10 @@ private:
ros::ServiceServer backupDatabase_;
ros::ServiceServer setModeLocalizationSrv_;
ros::ServiceServer setModeMappingSrv_;
ros::ServiceServer setLogDebugSrv_;
ros::ServiceServer setLogInfoSrv_;
ros::ServiceServer setLogWarnSrv_;
ros::ServiceServer setLogErrorSrv_;
ros::ServiceServer getMapDataSrv_;
ros::ServiceServer getProjMapSrv_;
ros::ServiceServer getGridMapSrv_;
src/OdometryROS.cpp
+31
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@@ -255,6 +255,11 @@ OdometryROS::OdometryROS(int argc, char * argv[], bool stereo) :
resetToPoseSrv_ = nh.advertiseService("reset_odom_to_pose", &OdometryROS::resetToPose, this);
pauseSrv_ = nh.advertiseService("pause_odom", &OdometryROS::pause, this);
resumeSrv_ = nh.advertiseService("resume_odom", &OdometryROS::resume, this);
setLogDebugSrv_ = pnh.advertiseService("log_debug", &OdometryROS::setLogDebug, this);
setLogInfoSrv_ = pnh.advertiseService("log_info", &OdometryROS::setLogInfo, this);
setLogWarnSrv_ = pnh.advertiseService("log_warning", &OdometryROS::setLogWarn, this);
setLogErrorSrv_ = pnh.advertiseService("log_error", &OdometryROS::setLogError, this);
}
OdometryROS::~OdometryROS()
@@ -550,4 +555,30 @@ bool OdometryROS::resume(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
return true;
}
bool OdometryROS::setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("visual_odometry: Set log level to Debug");
ULogger::setLevel(ULogger::kDebug);
return true;
}
bool OdometryROS::setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("visual_odometry: Set log level to Info");
ULogger::setLevel(ULogger::kInfo);
return true;
}
bool OdometryROS::setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("visual_odometry: Set log level to Warning");
ULogger::setLevel(ULogger::kWarning);
return true;
}
bool OdometryROS::setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
{
ROS_INFO("visual_odometry: Set log level to Error");
ULogger::setLevel(ULogger::kError);
return true;
}
}
src/OdometryROS.h
+8
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@@ -61,6 +61,10 @@ public:
bool resetToPose(rtabmap_ros::ResetPose::Request&, rtabmap_ros::ResetPose::Response&);
bool pause(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool resume(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setLogDebug(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setLogInfo(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setLogWarn(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
bool setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
const std::string & frameId() const {return frameId_;}
const std::string & odomFrameId() const {return odomFrameId_;}
@@ -90,6 +94,10 @@ private:
ros::ServiceServer resetToPoseSrv_;
ros::ServiceServer pauseSrv_;
ros::ServiceServer resumeSrv_;
ros::ServiceServer setLogDebugSrv_;
ros::ServiceServer setLogInfoSrv_;
ros::ServiceServer setLogWarnSrv_;
ros::ServiceServer setLogErrorSrv_;
tf2_ros::TransformBroadcaster tfBroadcaster_;
tf::TransformListener tfListener_;