Add logger service description #3477

Barry-Xu-2018 · 2023-04-19T03:04:38Z

Depend on
ros2/demos#611

source/Tutorials/Demos/Logging-and-logger-configuration.rst

fujitatomoya · 2023-04-19T17:13:31Z

overall looks good to me, note that this doc should be merged in rolling and iron only.

source/Tutorials/Demos/Logging-and-logger-configuration.rst

fujitatomoya · 2023-05-16T20:39:59Z

@clalancette now ros2/demos#611 is merged, this is good to go now?

Barry-Xu-2018 · 2023-06-14T01:25:15Z

@clalancette friendly ping.

clalancette

I've left a bunch of things to fix inline.

But my bigger concern here is that the way that this is currently structured, it doesn't exactly give the user something to run. It describes how to implement it, but not really how to run the demos. I think I'd rather see show how to run use_logger_service, and then make the service calls on it to get/set the level.

clalancette · 2023-06-14T12:37:11Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst

-In the future there will be a generalized approach to external configuration of loggers at runtime (similar to how `rqt_logger_level <https://wiki.ros.org/rqt_logger_level>`__ in ROS 1 allows logger configuration via remote procedural calls).
-**This concept is not yet officially supported in ROS 2.**
-In the meantime, this demo provides an **example** service that can be called externally to request configuration of logger levels for known names of loggers in the process.
+You can use logger service to implement external configuration of loggers at runtime.


Suggested change

You can use logger service to implement external configuration of loggers at runtime.

You can use the node logger service to externally configure loggers at runtime.

clalancette · 2023-06-14T12:37:24Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst


-The demo previously started is already running this example service.
-To set the level of the demo's logger back to ``INFO``\ , call the service with:
+The following code shows how to enable logger service while creating node.


Suggested change

The following code shows how to enable logger service while creating node.

The following code shows how to enable the logger service while creating the node.

clalancette · 2023-06-14T12:39:23Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst

+        # Create a node with logger service enabled
+        node = Node('NodeWithLoggerService', enable_logger_service=True)
+
+You will find 2 services under node `NodeWithLoggerService` by running `ros2 service list`


Suggested change

You will find 2 services under node `NodeWithLoggerService` by running `ros2 service list`

If you run one of the nodes as configured above, you will find 2 services when running ``ros2 service list``:

clalancette · 2023-06-14T12:39:50Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst

+
+* get_logger_levels
+
+    Use this service to get logger levels by specified logger names.


Suggested change

Use this service to get logger levels by specified logger names.

Use this service to get logger levels for specified logger names.

clalancette · 2023-06-14T12:40:18Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst

+    Run `ros2 srvice call` to get logger levels for `NodeWithLoggerService` and `rcl`.
+    .. code-block:: bash


Suggested change

Run `ros2 srvice call` to get logger levels for `NodeWithLoggerService` and `rcl`.

.. code-block:: bash

Run ``ros2 service call`` to get logger levels for ``NodeWithLoggerService`` and `rcl``.

.. code-block:: bash

clalancette · 2023-06-14T12:40:46Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst

+    Run `ros2 service call` to set logger levels for `NodeWithLoggerService` and `rcl`.
+    .. code-block:: bash


Suggested change

Run `ros2 service call` to set logger levels for `NodeWithLoggerService` and `rcl`.

.. code-block:: bash

Run ``ros2 service call`` to set logger levels for ``NodeWithLoggerService`` and ``rcl``.

.. code-block:: bash

clalancette · 2023-06-14T12:41:21Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst

+        rcl_interfaces.srv.SetLoggerLevels_Response(results=[rcl_interfaces.msg.SetLoggerLevelsResult(successful=True, reason=''), rcl_interfaces.msg.SetLoggerLevelsResult(successful=True, reason='')])
+
+
+There are demo code on how to set/get logger level via logger service.


Suggested change

There are demo code on how to set/get logger level via logger service.

There is also demo code showing how to set or get the logger level via the logger service.

clalancette · 2023-06-14T12:41:42Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst


-You should see debug output from ``rcl`` start to show.
+    Currently, there is a limitation that `get_logger_levels` and `set_logger_levels` services are not thread-safe.


Suggested change

Currently, there is a limitation that `get_logger_levels` and `set_logger_levels` services are not thread-safe.

Currently, there is a limitation that ``get_logger_levels`` and ``set_logger_levels`` services are not thread-safe.

source/Tutorials/Demos/Logging-and-logger-configuration.rst

Barry-Xu-2018

Thanks for your comments.

But my bigger concern here is that the way that this is currently structured, it doesn't exactly give the user something to run. It describes how to implement it, but not really how to run the demos. I think I'd rather see show how to run use_logger_service, and then make the service calls on it to get/set the level.

In the document, it described how to enable the logger service and how to get/set logger by CLI. If users want to use code to change logger, demo are reference. Demo is easy to run (No special operation). Users can look at the code of demo to understand how to use code to get/set logger via logger service. Anyway, I will add how to run demo in document.

Barry-Xu-2018 · 2023-06-15T02:22:54Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst

-In the future there will be a generalized approach to external configuration of loggers at runtime (similar to how `rqt_logger_level <https://wiki.ros.org/rqt_logger_level>`__ in ROS 1 allows logger configuration via remote procedural calls).
-**This concept is not yet officially supported in ROS 2.**
-In the meantime, this demo provides an **example** service that can be called externally to request configuration of logger levels for known names of loggers in the process.
+You can use logger service to implement external configuration of loggers at runtime.


Barry-Xu-2018 · 2023-06-15T02:30:56Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst


-The demo previously started is already running this example service.
-To set the level of the demo's logger back to ``INFO``\ , call the service with:
+The following code shows how to enable logger service while creating node.


Barry-Xu-2018 · 2023-06-15T02:31:51Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst

+        # Create a node with logger service enabled
+        node = Node('NodeWithLoggerService', enable_logger_service=True)
+
+You will find 2 services under node `NodeWithLoggerService` by running `ros2 service list`


Barry-Xu-2018 · 2023-06-15T02:32:54Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst

+
+* get_logger_levels
+
+    Use this service to get logger levels by specified logger names.


Barry-Xu-2018 · 2023-06-15T02:34:07Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst

+    Run `ros2 srvice call` to get logger levels for `NodeWithLoggerService` and `rcl`.
+    .. code-block:: bash


Barry-Xu-2018 · 2023-06-15T02:34:24Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst

+
+* set_logger_levels
+
+    Use this service to set logger levels by specified logger names.


Barry-Xu-2018 · 2023-06-15T02:37:06Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst

+    Run `ros2 service call` to set logger levels for `NodeWithLoggerService` and `rcl`.
+    .. code-block:: bash


source/Tutorials/Demos/Logging-and-logger-configuration.rst

Barry-Xu-2018 · 2023-06-15T02:40:12Z

source/Tutorials/Demos/Logging-and-logger-configuration.rst


-You should see debug output from ``rcl`` start to show.
+    Currently, there is a limitation that `get_logger_levels` and `set_logger_levels` services are not thread-safe.


Barry-Xu-2018 · 2023-06-15T03:11:14Z

@clalancette Please review again a6e18b9

fujitatomoya · 2023-06-28T05:07:19Z

@clalancette friendly ping on this.

clalancette

A couple more things to fix, then I think this will be ready to merge.

source/Tutorials/Demos/Logging-and-logger-configuration.rst

Barry-Xu-2018 · 2023-07-13T02:10:52Z

@clalancette Updated base on your comments at cdb07a4

Signed-off-by: Barry Xu <[email protected]>

Signed-off-by: Chris Lalancette <[email protected]>

* Add logger service description Signed-off-by: Barry Xu <[email protected]> Co-authored-by: Chris Lalancette <[email protected]> (cherry picked from commit c60d0e1)

* Add logger service description Signed-off-by: Barry Xu <[email protected]> Co-authored-by: Chris Lalancette <[email protected]> (cherry picked from commit c60d0e1) Co-authored-by: Barry Xu <[email protected]>

Barry-Xu-2018 requested review from clalancette and audrow as code owners April 19, 2023 03:04

Barry-Xu-2018 mentioned this pull request Apr 19, 2023

External logging level configuration ros2/ros2#1355

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clalancette self-assigned this May 4, 2023

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clalancette added the backport-iron backport at reviewers discretion; from rolling to iron label Jul 12, 2023

Barry-Xu-2018 and others added 5 commits July 13, 2023 08:32

Add logger service description

b9e398b

Signed-off-by: Barry Xu <[email protected]>

Address review comments

1fb674a

Signed-off-by: Barry Xu <[email protected]>

Address review comments

bab179b

Signed-off-by: Barry Xu <[email protected]>

Address review comments

1ae94b8

Signed-off-by: Barry Xu <[email protected]>

One more fixup.

0b14190

Signed-off-by: Chris Lalancette <[email protected]>

clalancette force-pushed the topic-add-logger-service-description branch from cdb07a4 to 0b14190 Compare July 13, 2023 12:35

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clalancette merged commit c60d0e1 into ros2:rolling Jul 13, 2023

mergify bot pushed a commit that referenced this pull request Jul 13, 2023

Add logger service description (#3477)

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* Add logger service description Signed-off-by: Barry Xu <[email protected]> Co-authored-by: Chris Lalancette <[email protected]> (cherry picked from commit c60d0e1)

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Add logger service description (backport #3477) #3784

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Add logger service description #3477

Add logger service description #3477

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Barry-Xu-2018 commented Jul 13, 2023

	You can use logger service to implement external configuration of loggers at runtime.
	You can use the node logger service to externally configure loggers at runtime.

	The following code shows how to enable logger service while creating node.
	The following code shows how to enable the logger service while creating the node.

	You will find 2 services under node `NodeWithLoggerService` by running `ros2 service list`
	If you run one of the nodes as configured above, you will find 2 services when running ``ros2 service list``:


		* get_logger_levels

		Use this service to get logger levels by specified logger names.

	Use this service to get logger levels by specified logger names.
	Use this service to get logger levels for specified logger names.

		Run `ros2 srvice call` to get logger levels for `NodeWithLoggerService` and `rcl`.
		.. code-block:: bash

		Run `ros2 service call` to set logger levels for `NodeWithLoggerService` and `rcl`.
		.. code-block:: bash

		rcl_interfaces.srv.SetLoggerLevels_Response(results=[rcl_interfaces.msg.SetLoggerLevelsResult(successful=True, reason=''), rcl_interfaces.msg.SetLoggerLevelsResult(successful=True, reason='')])


		There are demo code on how to set/get logger level via logger service.

	There are demo code on how to set/get logger level via logger service.
	There is also demo code showing how to set or get the logger level via the logger service.


		You should see debug output from ``rcl`` start to show.
		Currently, there is a limitation that `get_logger_levels` and `set_logger_levels` services are not thread-safe.

	Currently, there is a limitation that `get_logger_levels` and `set_logger_levels` services are not thread-safe.
	Currently, there is a limitation that ``get_logger_levels`` and ``set_logger_levels`` services are not thread-safe.


		* set_logger_levels

		Use this service to set logger levels by specified logger names.

Add logger service description #3477

Add logger service description #3477

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