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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/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;
}
}