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

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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/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)...",