:: [ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html) < [
std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)
<decltype(logger)>::type, :: [ rclcpp::Logger ](classrclcpp_1_1_logger.html)
>::value, \


function  , \


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_EXPRESSION  ` \- output the given printf-style message only if the given expression is true


#define RCLCPP_DEBUG_FUNCTION  |  (  |  |  logger,
---|---|---|---
|  |  |  function,
|  |  |  _..._
|  )  |  |

**Value:**


"First argument to logging macros must be an rclcpp::Logger"  ); \


RCUTILS_LOG_DEBUG_FUNCTION_NAMED( \


Readme


from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes, SetParameter
from launch_ros.actions import Node
from launch_ros.descriptions import ComposableNode, ParameterFile
from nav2_common.launch import RewrittenYaml


Parameters


**Definition:** logger.hpp:63


  * [ C++  85.6%  ](/facontidavide/ros2_logging_fmt/search?l=c%2B%2B)
  * [ CMake  14.4%  ](/facontidavide/ros2_logging_fmt/search?l=cmake)


    # Set environment variables
    ld.add_action(stdout_linebuf_envvar)


#  [ Unit 5 - Exercise 5.22.1: Cannot build after setup all the exercises
](/t/unit-5-exercise-5-22-1-cannot-build-after-setup-all-the-exercises/23841)


* [ GitHub Sponsors  Fund open source developers  ](/sponsors)


RCUTILS_LOG_ERROR_ONCE_NAMED( \


* ` {time}  ` \- The time in seconds since the epoch.


logger.get_name(), \


#define RCLCPP_WARN_SKIPFIRST  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


#define RCLCPP_DEBUG_SKIPFIRST  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


RCUTILS_LOG_FATAL_FUNCTION_NAMED( \


* Logging usage


Since ` rclcpp  ` and ` rclpy  ` use the same underlying logging
infrastructure, the configuration options are the same.


Log a message with severity INFO with the following conditions: All subsequent
log calls except the first one are being ignored.


Macros


RCUTILS_LOG_INFO_FUNCTION_NAMED( \


The following environment variables control some aspects of the ROS 2 loggers.
For each of the environment settings, note that this is a process-wide
setting, so it applies to all nodes in that process.


Log a message with severity WARN with the following conditions: Log calls are
being ignored when the function returns false.


##  Footer


* ` {severity}  ` \- The severity level.


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_FATAL_EXPRESSION


  * [ Code  ](/facontidavide/ros2_logging_fmt)
  * [ Issues  ](/facontidavide/ros2_logging_fmt/issues)
  * [ Pull requests  ](/facontidavide/ros2_logging_fmt/pulls)
  * [ Actions  ](/facontidavide/ros2_logging_fmt/actions)
  * [ Projects  ](/facontidavide/ros2_logging_fmt/projects)
  * [ Security  ](/facontidavide/ros2_logging_fmt/security)
  * [ Insights  ](/facontidavide/ros2_logging_fmt/pulse)


[ src ](/facontidavide/ros2_logging_fmt/tree/master/src "src")


* ` rcutils_logging_get_logger_effective_level  ` \- Given a logger name, return the logger level (which may be unset)


Table of Contents


static_assert( \


` rcl_logging_spdlog  ` implements the ` rcl_logging_interface  ` API, and
thus provides external logging services to the ` rcl  ` layer. In particular,
the ` rcl_logging_spdlog  ` implementation takes formatted log messages and
writes them out to log files on disk using the ` spdlog  ` library, typically
within ` ~/.ros/log  ` (though this is configurable; see ` Configuration  `
above).


* Node creation


**Definition:** logger.hpp:63


[ CMakeLists.txt ](/facontidavide/ros2_logging_fmt/blob/master/CMakeLists.txt
"CMakeLists.txt")


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_SKIPFIRST  ` \- output the given C++ stream-style message all but the first time this line is hit


Log a message with severity ERROR.


###  Footer navigation


* rclpy


I tried to update the ` package.xml ` content from ` email="to-do" ` to `
email="user@todo.todo" ` similar to this thread: [ Unit 4
my_robot_hardware_interface.hpp error - Course Support / ROS2 Control
Framework - The Construct ROS Community (robotigniteacademy.com)
](https://get-help.robotigniteacademy.com/t/unit-4-my-robot-hardware-
interface-hpp-error/23787)
And it worked with warnings.
Many thanks to [ @zach ](/u/zach)


    * [ Enterprise ](/enterprise)
    * [ Teams ](/team)
    * [ Startups ](/enterprise/startups)
    * [ Education  ](https://education.github.com)


* ` {function_name}  ` \- The function name this was called from (may be empty).


* ` RCUTILS_LOGGING_USE_STDOUT  ` \- Control what stream output messages go to. If this is unset or 0, use stderr. If this is 1, use stdout.


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_WARN_ONCE


[ ](/facontidavide/ros2_logging_fmt/branches) [
](/facontidavide/ros2_logging_fmt/tags)


[ rclcpp::Logger ](classrclcpp_1_1_logger.html)


Parameters


      * [ Writing a simple service and client (Python) ](../Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Service-And-Client.html)
      * [ Creating custom msg and srv files ](../Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html)
      * [ Implementing custom interfaces ](../Tutorials/Beginner-Client-Libraries/Single-Package-Define-And-Use-Interface.html)
      * [ Using parameters in a class (C++) ](../Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-CPP.html)
      * [ Using parameters in a class (Python) ](../Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-Python.html)
      * [ Using ` ros2doctor  ` to identify issues ](../Tutorials/Beginner-Client-Libraries/Getting-Started-With-Ros2doctor.html)
      * [ Creating and using plugins (C++) ](../Tutorials/Beginner-Client-Libraries/Pluginlib.html)
    * [ Intermediate ](../Tutorials/Intermediate.html)
      * [ Managing Dependencies with rosdep ](../Tutorials/Intermediate/Rosdep.html)
      * [ Creating an action ](../Tutorials/Intermediate/Creating-an-Action.html)
      * [ Writing an action server and client (C++) ](../Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html)
      * [ Writing an action server and client (Python) ](../Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html)
      * [ Composing multiple nodes in a single process ](../Tutorials/Intermediate/Composition.html)
      * [ Launch ](../Tutorials/Intermediate/Launch/Launch-Main.html)
        * [ Creating a launch file ](../Tutorials/Intermediate/Launch/Creating-Launch-Files.html)
        * [ Integrating launch files into ROS 2 packages ](../Tutorials/Intermediate/Launch/Launch-system.html)
        * [ Using substitutions ](../Tutorials/Intermediate/Launch/Using-Substitutions.html)
        * [ Using event handlers ](../Tutorials/Intermediate/Launch/Using-Event-Handlers.html)
        * [ Managing large projects ](../Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html)
      * [ ` tf2  ` ](../Tutorials/Intermediate/Tf2/Tf2-Main.html)
        * [ Introducing ` tf2  ` ](../Tutorials/Intermediate/Tf2/Introduction-To-Tf2.html)
        * [ Writing a static broadcaster (Python) ](../Tutorials/Intermediate/Tf2/Writing-A-Tf2-Static-Broadcaster-Py.html)
        * [ Writing a static broadcaster (C++) ](../Tutorials/Intermediate/Tf2/Writing-A-Tf2-Static-Broadcaster-Cpp.html)
        * [ Writing a broadcaster (Python) ](../Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Py.html)
        * [ Writing a broadcaster (C++) ](../Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Cpp.html)
        * [ Writing a listener (Python) ](../Tutorials/Intermediate/Tf2/Writing-A-Tf2-Listener-Py.html)
        * [ Writing a listener (C++) ](../Tutorials/Intermediate/Tf2/Writing-A-Tf2-Listener-Cpp.html)
        * [ Adding a frame (Python) ](../Tutorials/Intermediate/Tf2/Adding-A-Frame-Py.html)
        * [ Adding a frame (C++) ](../Tutorials/Intermediate/Tf2/Adding-A-Frame-Cpp.html)
        * [ Using time (Python) ](../Tutorials/Intermediate/Tf2/Learning-About-Tf2-And-Time-Py.html)
        * [ Using time (C++) ](../Tutorials/Intermediate/Tf2/Learning-About-Tf2-And-Time-Cpp.html)
        * [ Traveling in time (Python) ](../Tutorials/Intermediate/Tf2/Time-Travel-With-Tf2-Py.html)
        * [ Traveling in time (C++) ](../Tutorials/Intermediate/Tf2/Time-Travel-With-Tf2-Cpp.html)
        * [ Debugging ](../Tutorials/Intermediate/Tf2/Debugging-Tf2-Problems.html)
        * [ Quaternion fundamentals ](../Tutorials/Intermediate/Tf2/Quaternion-Fundamentals.html)
        * [ Using stamped datatypes with ` tf2_ros::MessageFilter  ` ](../Tutorials/Intermediate/Tf2/Using-Stamped-Datatypes-With-Tf2-Ros-MessageFilter.html)
      * [ Testing ](../Tutorials/Intermediate/Testing/Testing-Main.html)
        * [ Running Tests in ROS 2 from the Command Line ](../Tutorials/Intermediate/Testing/CLI.html)
        * [ Writing Basic Tests with C++ with GTest ](../Tutorials/Intermediate/Testing/Cpp.html)
        * [ Writing Basic Tests with Python ](../Tutorials/Intermediate/Testing/Python.html)
      * [ URDF ](../Tutorials/Intermediate/URDF/URDF-Main.html)
        * [ Building a visual robot model from scratch ](../Tutorials/Intermediate/URDF/Building-a-Visual-Robot-Model-with-URDF-from-Scratch.html)
        * [ Building a movable robot model ](../Tutorials/Intermediate/URDF/Building-a-Movable-Robot-Model-with-URDF.html)
        * [ Adding physical and collision properties ](../Tutorials/Intermediate/URDF/Adding-Physical-and-Collision-Properties-to-a-URDF-Model.html)
        * [ Using Xacro to clean up your code ](../Tutorials/Intermediate/URDF/Using-Xacro-to-Clean-Up-a-URDF-File.html)
        * [ Using URDF with ` robot_state_publisher  ` ](../Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher.html)
    * [ Advanced ](../Tutorials/Advanced.html)
      * [ Enabling topic statistics (C++) ](../Tutorials/Advanced/Topic-Statistics-Tutorial/Topic-Statistics-Tutorial.html)
      * [ Using Fast DDS Discovery Server as discovery protocol [community-contributed] ](../Tutorials/Advanced/Discovery-Server/Discovery-Server.html)
      * [ Implementing a custom memory allocator ](../Tutorials/Advanced/Allocator-Template-Tutorial.html)
      * [ Recording a bag from a node (C++) ](../Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-CPP.html)
      * [ Simulators ](../Tutorials/Advanced/Simulators/Simulation-Main.html)
        * [ Webots ](../Tutorials/Advanced/Simulators/Webots/Simulation-Webots.html)
          * [ Installation (Ubuntu) ](../Tutorials/Advanced/Simulators/Webots/Installation-Ubuntu.html)
          * [ Installation (Windows) ](../Tutorials/Advanced/Simulators/Webots/Installation-Windows.html)
          * [ Installation (macOS) ](../Tutorials/Advanced/Simulators/Webots/Installation-MacOS.html)
          * [ Setting up a robot simulation (Basic) ](../Tutorials/Advanced/Simulators/Webots/Setting-Up-Simulation-Webots-Basic.html)
          * [ Setting up a robot simulation (Advanced) ](../Tutorials/Advanced/Simulators/Webots/Setting-Up-Simulation-Webots-Advanced.html)
        * [ Ignition ](../Tutorials/Advanced/Simulators/Ignition/Simulation-Ignition.html)
          * [ Setting up a robot simulation (Ignition Gazebo) ](../Tutorials/Advanced/Simulators/Ignition/Ignition.html)


[ 17 Commits  ](/facontidavide/ros2_logging_fmt/commits/master/)


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}  ` \- output the given printf-style message every time this line is hit


* See the [ rclcpp documentation ](https://docs.ros2.org/latest/api/rclcpp/logging_8hpp.html) for an extensive list of functionality.


[ std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)


    cmake_minimum_required(VERSION 3.5)
    project(dynamixel_hardware_interface)

    # Default to C99
    if(NOT CMAKE_C_STANDARD)
      set(CMAKE_C_STANDARD 99)
    endif()

    # Default to C++14
    if(NOT CMAKE_CXX_STANDARD)
      set(CMAKE_CXX_STANDARD 14)
    endif()

    if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
      add_compile_options(-Wall -Wextra -Wpedantic)
    endif()

    # find dependencies
    find_package(ament_cmake REQUIRED)
    find_package(rclcpp REQUIRED)
    find_package(hardware_interface REQUIRED)
    find_package(pluginlib REQUIRED)
    find_package(dynamixel_workbench_toolbox REQUIRED)

    add_library(
      ${PROJECT_NAME}
      SHARED
      src/dynamixel_hardware_interface.cpp
    )
    target_include_directories(
      ${PROJECT_NAME}
      PRIVATE
      include
    )
    ament_target_dependencies(
      ${PROJECT_NAME}
      rclcpp
      hardware_interface
      pluginlib
      dynamixel_workbench_toolbox
      )

    pluginlib_export_plugin_description_file(hardware_interface dynamixel_hardware.xml)

    # INSTALL
    install(
      TARGETS ${PROJECT_NAME}
      DESTINATION lib
    )
    install(
      DIRECTORY include/
      DESTINATION include
    )

    install(
      DIRECTORY
        launch
        config


![](https://get-
help.robotigniteacademy.com/letter_avatar_proxy/v4/letter/p/3e96dc/48.png)
PhongNguyen:


* To the ` /rosout  ` topic on the ROS 2 network via the RMW layer


Hi [ @PhongNguyen ](/u/phongnguyen) ,


**Definition:** logger.hpp:63


    declare_autostart_cmd = DeclareLaunchArgument(
        'autostart',
        default_value='true',
        description='Automatically startup the nav2 stack',
    )


* rcl


"First argument to logging macros must be an rclcpp::Logger"  ); \


[ PhongNguyen  ](https://get-help.theconstruct.ai/u/PhongNguyen) April 18,
2023, 2:50pm  3


    * [ Introspection with command line tools ](About-Command-Line-Tools.html)
    * [ Overview and usage of RQt ](About-RQt.html)
    * [ About Composition ](About-Composition.html)
    * [ On the mixing of ament and catkin (catment) ](About-Catment.html)
    * [ About Cross-compilation ](About-Cross-Compilation.html)
    * [ About tf2 ](About-Tf2.html)
    * [ About the build system ](About-Build-System.html)
    * [ About internal ROS 2 interfaces ](About-Internal-Interfaces.html)
    * [ About ROS 2 middleware implementations ](About-Middleware-Implementations.html)
    * [ About ROS 2 client libraries ](About-ROS-2-Client-Libraries.html)
  * [ Contact ](../Contact.html)
  * [ The ROS 2 Project ](../The-ROS2-Project.html)
    * [ Contributing ](../The-ROS2-Project/Contributing.html)
      * [ ROS 2 developer guide ](../The-ROS2-Project/Contributing/Developer-Guide.html)
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      * [ Quality guide: ensuring code quality ](../The-ROS2-Project/Contributing/Quality-Guide.html)
      * [ Migration guide from ROS 1 ](../The-ROS2-Project/Contributing/Migration-Guide.html)
        * [ Python migration guide from ROS 1 ](../The-ROS2-Project/Contributing/Migration-Guide-Python.html)
      * [ ROS Build Farms ](../The-ROS2-Project/Contributing/Build-Farms.html)
      * [ Windows Tips and Tricks ](../The-ROS2-Project/Contributing/Windows-Tips-and-Tricks.html)
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      * [ ROS 2 Technical Steering Committee Charter ](../The-ROS2-Project/Governance/ROS2-TSC-Charter.html)
      * [ ROS 2 TSC applicant intake process ](../The-ROS2-Project/Governance/ROS2-TSC-Intake-process.html)
      * [ How to Start a Community Working Group ](../The-ROS2-Project/Governance/How-To-Start-A-Community-Working-Group.html)
    * [ Marketing ](../The-ROS2-Project/Marketing.html)
  * [ Related Projects ](../Related-Projects.html)
    * [ Intel ROS 2 Projects ](../Related-Projects/Intel-ROS2-Projects.html)
    * [ NVIDIA ROS 2 Projects ](../Related-Projects/Nvidia-ROS2-Projects.html)
  * [ Glossary ](../Glossary.html)
  * [ Citations ](../Citations.html)


# Copyright (c) 2018 Intel Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.


By default, log messages in ROS 2 nodes will go out to the console (on
stderr), to log files on disk, and to the ` /rosout  ` topic on the ROS 2
network. All of the targets can be individually enabled or disabled on a per-
node basis.


* Product


RCUTILS_LOG_ERROR_EXPRESSION_NAMED( \


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_WARN


No releases published


##  [ Contributors  2  ](/facontidavide/ros2_logging_fmt/graphs/contributors)


###  Node creation  ï


#  Saved searches


* ` RCUTILS_CONSOLE_OUTPUT_FORMAT  ` \- Control the fields that are output for each log message. The available fields are:


Search or jump to...


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
expression  |  The expression determining if the message should be logged
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_FATAL_FUNCTION


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_INFO


[ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html)


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
expression  |  The expression determining if the message should be logged
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_WARN_FUNCTION


logger.get_name(), \


    * [ Topics ](/topics)
    * [ Trending ](/trending)
    * [ Collections ](/collections)


[ system  ](https://get-help.theconstruct.ai/u/system) Closed  April 25, 2023,
8:19pm  6


RCUTILS_LOG_WARN_NAMED( \


##  [ Packages  0  ](/users/facontidavide/packages?repo_name=ros2_logging_fmt)


This is the main ROS 2 C++ API which sits atop the ` rcl  ` API. In the
context of logging, ` rclcpp  ` provides the ` RCLCPP_  ` logging macros; see
` APIs  ` above for a complete list. When one of the ` RCLCPP_  ` macros runs,
it checks the current severity level of the node against the severity level of
the macro. If the severity level of the macro is greater than or equal to the
node severity level, the message will be formatted and output to all of the
places that are currently configured. Note that ` rclcpp  ` uses a global
mutex for log calls, so all logging calls within the same process end up being
single-threaded.


    declare_use_respawn_cmd = DeclareLaunchArgument(
        'use_respawn',
        default_value='False',
        description='Whether to respawn if a node crashes. Applied when composition is disabled.',
    )


[ PhongNguyen  ](https://get-help.theconstruct.ai/u/PhongNguyen) April 18,
2023, 8:19pm  5


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_SKIPFIRST_THROTTLE  ` \- output the given printf-style message no more than the given rate in integer milliseconds, but skip the first


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_INFO_ONCE


###  Environment variables  ï


RCUTILS_LOG_INFO_ONCE_NAMED( \


C++ ROS Client Library API

---

  * [ rclcpp ](dir_1db9bb9ce2fa0f4199c99e8fc799e6b2.html)


* ` {message}  ` \- The log message (may be empty).


{{ message }}


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_FUNCTION  ` \- output the given C++ stream-style message only if the given function returns true


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_THROTTLE  ` \- output the given printf-style message no more than the given rate in integer milliseconds


Name  |  Name  |


                executable='waypoint_follower',
                name='waypoint_follower',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings,
            ),
            Node(
                package='nav2_velocity_smoother',
                executable='velocity_smoother',
                name='velocity_smoother',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings
                + [('cmd_vel', 'cmd_vel_nav')],
            ),
            Node(
                package='nav2_collision_monitor',
                executable='collision_monitor',
                name='collision_monitor',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings,
            ),
            Node(
                package='nav2_lifecycle_manager',
                executable='lifecycle_manager',
                name='lifecycle_manager_navigation',
                output='screen',
                arguments=['--ros-args', '--log-level', log_level],
                parameters=[{'autostart': autostart}, {'node_names': lifecycle_nodes}],
            ),
        ],
    )


Other Versions  v: foxy


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
expression  |  The expression determining if the message should be logged
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_ERROR_FUNCTION


"First argument to logging macros must be an rclcpp::Logger"  ); \


[ rclcpp::Logger ](classrclcpp_1_1_logger.html)


[ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html)


[ Notifications ](/login?return_to=%2Ffacontidavide%2Fros2_logging_fmt)


* ` throttle_duration_sec  ` \- if not None, the duration of the throttle interval in floating-point seconds


##  About


    load_composable_nodes = GroupAction(
        condition=IfCondition(use_composition),
        actions=[
            SetParameter('use_sim_time', use_sim_time),
            LoadComposableNodes(
                target_container=container_name_full,
                composable_node_descriptions=[
                    ComposableNode(
                        package='nav2_controller',
                        plugin='nav2_controller::ControllerServer',
                        name='controller_server',
                        parameters=[configured_params],
                        remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
                    ),
                    ComposableNode(
                        package='nav2_smoother',
                        plugin='nav2_smoother::SmootherServer',
                        name='smoother_server',
                        parameters=[configured_params],
                        remappings=remappings,
                    ),
                    ComposableNode(
                        package='nav2_planner',
                        plugin='nav2_planner::PlannerServer',
                        name='planner_server',
                        parameters=[configured_params],
                        remappings=remappings,
                    ),
                    ComposableNode(
                        package='nav2_behaviors',
                        plugin='behavior_server::BehaviorServer',
                        name='behavior_server',
                        parameters=[configured_params],
                        remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
                    ),
                    ComposableNode(
                        package='nav2_bt_navigator',
                        plugin='nav2_bt_navigator::BtNavigator',
                        name='bt_navigator',
                        parameters=[configured_params],
                        remappings=remappings,
                    ),
                    ComposableNode(
                        package='nav2_waypoint_follower',
                        plugin='nav2_waypoint_follower::WaypointFollower',
                        name='waypoint_follower',
                        parameters=[configured_params],
                        remappings=remappings,
                    ),
                    ComposableNode(
                        package='nav2_velocity_smoother',
                        plugin='nav2_velocity_smoother::VelocitySmoother',
                        name='velocity_smoother',
                        parameters=[configured_params],
                        remappings=remappings
                        + [('cmd_vel', 'cmd_vel_nav')],
                    ),
                    ComposableNode(
                        package='nav2_collision_monitor',
                        plugin='nav2_collision_monitor::CollisionMonitor',


static_assert( \


logger.get_name(), \


**Definition:** logger.hpp:63


    * [ CI/CD & Automation ](/solutions/ci-cd/)
    * [ DevOps ](/solutions/devops/)
    * [ DevSecOps  ](https://resources.github.com/devops/fundamentals/devsecops/)


[ std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)


These are the APIs that end users of the ROS 2 logging infrastructure should
use, split up by client library.


[ Sign up
](/signup?ref_cta=Sign+up&ref_loc=header+logged+out&ref_page=%2F%3Cuser-
name%3E%2F%3Crepo-name%3E&source=header-
repo&source_repo=facontidavide%2Fros2_logging_fmt)


[ **6** forks ](/facontidavide/ros2_logging_fmt/forks)


[ girishkumar.kannan  ](https://get-help.theconstruct.ai/u/girishkumar.kannan)
April 18, 2023, 3:26pm  4


[ ROS 2 Documentation: Foxy ![Logo](../_static/foxy-small.png)
](../index.html)


#define RCLCPP_LOG_MIN_SEVERITY_NONE 5
---

##  ◆  RCLCPP_LOG_MIN_SEVERITY


###  rcl_logging_spdlog  ï


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
expression  |  The expression determining if the message should be logged
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_DEBUG_FUNCTION


**You're reading the documentation for a version of ROS 2 that has reached its
EOL (end-of-life), and is no longer officially supported. If you want up-to-
date information, please have a look at[ Iron ](../../iron/index.html) . **


    namespace = LaunchConfiguration('namespace')
    use_sim_time = LaunchConfiguration('use_sim_time')
    autostart = LaunchConfiguration('autostart')
    params_file = LaunchConfiguration('params_file')
    use_composition = LaunchConfiguration('use_composition')
    container_name = LaunchConfiguration('container_name')
    container_name_full = (namespace, '/', container_name)
    use_respawn = LaunchConfiguration('use_respawn')
    log_level = LaunchConfiguration('log_level')


* ` {line_number}  ` \- The line number this was called from (may be empty).


Toggle navigation


:: [ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html) < [
std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)
<decltype(logger)>::type, :: [ rclcpp::Logger ](classrclcpp_1_1_logger.html)
>::value, \


* ` {file_name}  ` \- The file name this was called from (may be empty).


**Definition:** logger.hpp:63


###  Forks


[ **8** watching ](/facontidavide/ros2_logging_fmt/watchers)


Below is my ` CMakeList.txt ` code


    * [ All features ](/features)
    * [ Documentation  ](https://docs.github.com)
    * [ GitHub Skills  ](https://skills.github.com/)
    * [ Blog  ](https://github.blog)


[ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html)


static_assert( \


* Environment variables


[ girishkumar.kannan  ](https://get-help.theconstruct.ai/u/girishkumar.kannan)
April 18, 2023, 5:30am  2


* To disk via the ` rcl_logging_spdlog  ` layer


Parameters


A logger will only process log messages with severity at or higher than a
specified level chosen for the logger.


Include my email address so I can be contacted


* ` RCUTILS_COLORIZED_OUTPUT  ` \- Control whether colors are used when outputting messages. If unset, automatically determine based on the platform and whether the console is a TTY. If 0, force disable using colors for output. If 1, force enable using colors for output.


function  , \


* ` log_levels  ` \- The log level to use for a component within this particular node. This can be set with the following: ` ros2  run  demo_nodes_cpp  talker  --ros-args  --log-level  talker:=DEBUG  `


logger.get_name(), \


[ rclcpp::Logger ](classrclcpp_1_1_logger.html)


**Definition:** logger.hpp:63


No description, website, or topics provided.


Log a message with severity FATAL with the following conditions: The first log
call is being ignored but all subsequent calls are being processed.


#define RCLCPP_LOG_MIN_SEVERITY_WARN 2
---

##  ◆  RCLCPP_LOG_MIN_SEVERITY_ERROR


* ` RCUTILS_LOGGING_BUFFERED_STREAM  ` \- Control whether the logging stream (as configured in ` RCUTILS_LOGGING_USE_STDOUT  ` ) should be line buffered or unbuffered. If this is unset, use the default of the stream (generally line buffered for stdout, and unbuffered for stderr). If this is 0, force the stream to be unbuffered. If this is 1, force the stream to be line buffered.


"First argument to logging macros must be an rclcpp::Logger"  ); \


    * [ Learning Pathways  ](https://resources.github.com/learn/pathways/)
    * [ White papers, Ebooks, Webinars  ](https://resources.github.com/)
    * [ Customer Stories ](/customer-stories)
    * [ Partners  ](https://partner.github.com/)


:: [ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html) < [
std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)
<decltype(logger)>::type, :: [ rclcpp::Logger ](classrclcpp_1_1_logger.html)
>::value, \


[ Activity  ](/facontidavide/ros2_logging_fmt/activity)


* ` rclpy.logging.set_logger_level  ` \- Set the logging level for a particular logger name to the given severity level


1 Like


#define RCLCPP_INFO_SKIPFIRST  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


Parameters


* ` log_ext_lib_disabled  ` \- Whether to completely disable the use of an external logger. This may be faster in some cases, but means that logs will not be written to disk. This can be done with the following: ` ros2  run  demo_nodes_cpp  talker  --ros-args  --disable-external-lib-logs  `


##  Use saved searches to filter your results more quickly


Query


The rest of this document will go over some of the ideas behind the logging
subsystem.


Log a message with severity FATAL with the following conditions: All
subsequent log calls except the first one are being ignored.


[ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html)


    #include <algorithm>
    #include <array>
    #include <string>
    #include <limits>
    #include <vector>

    #include "dynamixel_hardware_interface/dynamixel_hardware_interface.hpp"
    #include "hardware_interface/types/hardware_interface_return_values.hpp"
    #include "hardware_interface/types/hardware_interface_type_values.hpp"
    #include "rclcpp/rclcpp.hpp"

    namespace dynamixel_hardware
    {
    constexpr const char * kDynamixelHardware = "DynamixelHardware";
    constexpr uint8_t kGoalPositionIndex = 0;
    constexpr uint8_t kGoalVelocityIndex = 1;
    constexpr uint8_t kPresentPositionVelocityCurrentIndex = 0;
    constexpr const char * kGoalPositionItem = "Goal_Position";
    constexpr const char * kGoalVelocityItem = "Goal_Velocity";
    constexpr const char * kMovingSpeedItem = "Moving_Speed";
    constexpr const char * kPresentPositionItem = "Present_Position";
    constexpr const char * kPresentVelocityItem = "Present_Velocity";
    constexpr const char * kPresentSpeedItem = "Present_Speed";
    constexpr const char * kPresentCurrentItem = "Present_Current";
    constexpr const char * kPresentLoadItem = "Present_Load";

    CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo & info)
    {
      RCLCPP_DEBUG(rclcpp::get_logger(kDynamixelHardware), "configure");
      if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
      {
        return CallbackReturn::ERROR;
      }

      joints_.resize(info_.joints.size(), Joint());
      joint_ids_.resize(info_.joints.size(), 0);

      for (uint i = 0; i < info_.joints.size(); i++) {
        joint_ids_[i] = std::stoi(info_.joints[i].parameters.at("id"));
        joints_[i].state.position = std::numeric_limits<double>::quiet_NaN();
        joints_[i].state.velocity = std::numeric_limits<double>::quiet_NaN();
        joints_[i].state.effort = std::numeric_limits<double>::quiet_NaN();
        joints_[i].command.position = std::numeric_limits<double>::quiet_NaN();
        joints_[i].command.velocity = std::numeric_limits<double>::quiet_NaN();
        joints_[i].command.effort = std::numeric_limits<double>::quiet_NaN();
        RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "joint_id %d: %d", i, joint_ids_[i]);
      }

      if (
        info_.hardware_parameters.find("use_dummy") != info_.hardware_parameters.end() &&
        info_.hardware_parameters.at("use_dummy") == "true") {
        use_dummy_ = true;
        RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "dummy mode");
        return CallbackReturn::SUCCESS;
      }

      auto usb_port = info_.hardware_parameters.at("usb_port");
      auto baud_rate = std::stoi(info_.hardware_parameters.at("baud_rate"));


__ [ ROS 2 Documentation: Foxy ](../index.html)


logger.get_name(), \


* To the ` /rosout  ` topic on the ROS 2 network


If no format is given, a default of ` [{severity}]  [{time}]  [{name}]:
{message}  ` is used.


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
function  |  The functions return value determines if the message should be
logged
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_INFO_SKIPFIRST


  * [ Code  ](/facontidavide/ros2_logging_fmt)
  * [ Issues  1  ](/facontidavide/ros2_logging_fmt/issues)
  * [ Pull requests  0  ](/facontidavide/ros2_logging_fmt/pulls)
  * [ Actions  ](/facontidavide/ros2_logging_fmt/actions)
  * [ Projects  0  ](/facontidavide/ros2_logging_fmt/projects)
  * [ Security  ](/facontidavide/ros2_logging_fmt/security)
  * [ Insights  ](/facontidavide/ros2_logging_fmt/pulse)


Generated by [ ![doxygen](doxygen.png) ](http://www.doxygen.org/index.html)
1.8.14


C++  Python


RCUTILS_LOG_WARN_SKIPFIRST_NAMED( \


Parameters


**NOTE: stil under construction. PR and suggestions are welcome.**


##  Configuration  ï


##  Severity level  ï


[ Sign in
](/login?return_to=https%3A%2F%2Fgithub.com%2Ffacontidavide%2Fros2_logging_fmt)


static_assert( \


**Definition:** logger.hpp:63


:: [ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html) < [
std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)
<decltype(logger)>::type, :: [ rclcpp::Logger ](classrclcpp_1_1_logger.html)
>::value, \


[ include/  ros2_logging_fmt
](/facontidavide/ros2_logging_fmt/tree/master/include/ros2_logging_fmt "This
path skips through empty directories")


#define RCLCPP_INFO_FUNCTION  |  (  |  |  logger,
---|---|---|---
|  |  |  function,
|  |  |  _..._
|  )  |  |

**Value:**


* ` rcutils_logging_set_logger_level  ` \- Set the logging level for a particular logger name to the given severity level


Log a message with severity WARN with the following conditions: All subsequent
log calls except the first one are being ignored.


#define RCLCPP_WARN_ONCE  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


* Solutions


###  rcl  ï


#define RCLCPP_ERROR_EXPRESSION  |  (  |  |  logger,
---|---|---|---
|  |  |  expression,
|  |  |  _..._
|  )  |  |

**Value:**


logger.get_name(), \


    # Create the launch description and populate
    ld = LaunchDescription()


Log a message with severity WARN.


[ rclcpp::Logger ](classrclcpp_1_1_logger.html)


[ ](/facontidavide/ros2_logging_fmt/commits/master/)

###


Log a message with severity ERROR with the following conditions: Log calls are
being ignored when the function returns false.


[ std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)


"First argument to logging macros must be an rclcpp::Logger"  ); \


* ` log_rosout_disabled  ` \- Whether to disable writing log messages out to ` /rosout  ` . This can significantly save on network bandwidth, but external observers will not be able to monitor logging. This can be done with the following: ` ros2  run  demo_nodes_cpp  talker  --ros-args  --disable-rosout-logs  `


|

View all files

##  Repository files navigation


**Definition:** logger.hpp:63


Parameters


That is the only change that you need.


* See the [ logging demo  ](../Tutorials/Demos/Logging-and-logger-configuration.html) for example usage.


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_STREAM_THROTTLE  ` \- output the given C++ stream-style message no more than the given rate in integer milliseconds


[ README.md ](/facontidavide/ros2_logging_fmt/blob/master/README.md
"README.md")


No packages published


    <?xml version="1.0"?>
    <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
    <package format="3">
      <name>dynamixel_hardware_interface</name>
      <version>0.0.0</version>
      <description>TODO: Package description</description>
      <maintainer email="to-do">user</maintainer>
      <license>TODO: License declaration</license>

      <buildtool_depend>ament_cmake</buildtool_depend>

      <depend>rclcpp</depend>
      <depend>hardware_interface</depend>
      <depend>pluginlib</depend>
      <depend>dynamixel_workbench_toolbox</depend>

      <test_depend>ament_lint_auto</test_depend>
      <test_depend>ament_lint_common</test_depend>

      <export>
        <build_type>ament_cmake</build_type>
      </export>
    </package>


###  rclpy  ï


    # Declare the launch options
    ld.add_action(declare_namespace_cmd)
    ld.add_action(declare_use_sim_time_cmd)
    ld.add_action(declare_params_file_cmd)
    ld.add_action(declare_autostart_cmd)
    ld.add_action(declare_use_composition_cmd)
    ld.add_action(declare_container_name_cmd)
    ld.add_action(declare_use_respawn_cmd)
    ld.add_action(declare_log_level_cmd)
    # Add the actions to launch all of the navigation nodes
    ld.add_action(load_nodes)
    ld.add_action(load_composable_nodes)


* See the [ rclpy tests ](https://github.com/ros2/rclpy/blob/foxy/rclpy/test/test_logging.py) for example usage of keyword arguments (e.g. ` skip_first  ` , ` once  ` ).


* To the console (if one is attached)


     [ Iron (latest) ](../../iron/index.html)
     [ Humble ](../../humble/index.html)
     [ Galactic (EOL) ](../../galactic/Concepts/About-Logging.html)
     [ Foxy (EOL) ](About-Logging.html)
     [ Eloquent (EOL) ](../../eloquent/index.html)
     [ Dashing (EOL) ](../../dashing/Concepts/About-Logging.html)
     [ Crystal (EOL) ](../../crystal/Concepts/About-Logging.html)


* Open Source


` rcutils  ` has a logging implementation that can format log messages
according to a certain format (see ` Configuration  ` above), and output those
log messages to a console. ` rcutils  ` implements a complete logging
solution, but allows higher-level components to insert themselves into the
logging infrastructure in a dependency-injection model. This will become more
evident when we talk about the ` rcl  ` layer below.


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_DEBUG_ONCE


RCUTILS_LOG_ERROR_NAMED( \


Log a message with severity FATAL with the following conditions: Log calls are
being ignored when the function returns false.


Parameters


logger.get_name(), \


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_ERROR


RCUTILS_LOG_WARN_FUNCTION_NAMED( \


#define RCLCPP_FATAL_SKIPFIRST  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


**Definition:** logger.hpp:63


#  Search code, repositories, users, issues, pull requests...


[ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html)


##  Example


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_DEBUG_EXPRESSION


static_assert( \


      DESTINATION
        share/${PROJECT_NAME}/
    )

    if(BUILD_TESTING)
      find_package(ament_lint_auto REQUIRED)
      # the following line skips the linter which checks for copyrights
      # uncomment the line when a copyright and license is not present in all source files
      #set(ament_cmake_copyright_FOUND TRUE)
      # the following line skips cpplint (only works in a git repo)
      # uncomment the line when this package is not in a git repo
      #set(ament_cmake_cpplint_FOUND TRUE)
      ament_lint_auto_find_test_dependencies()
    endif()

    ## EXPORTS
    ament_export_include_directories(
      include
    )
    ament_export_libraries(
      ${PROJECT_NAME}
    )
    ament_export_dependencies(
      rclcpp
      hardware_interface
      pluginlib
      dynamixel_workbench_toolbox
    )

    ament_package()


[ std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)


expression, \


    # Create our own temporary YAML files that include substitutions
    param_substitutions = {'autostart': autostart}


[ rclcpp::Logger ](classrclcpp_1_1_logger.html)


#define RCLCPP_LOG_MIN_SEVERITY [ RCLCPP_LOG_MIN_SEVERITY_DEBUG
](logging_8hpp.html#a4c7bfa6a97d08a54e09a75a402b21432)
---

Define
RCLCPP_LOG_MIN_SEVERITY=RCLCPP_LOG_MIN_SEVERITY_[DEBUG|INFO|WARN|ERROR|FATAL]
in your build options to compile out anything below that severity. Use
RCLCPP_LOG_MIN_SEVERITY_NONE to compile out all macros.


Search


Log a message with severity DEBUG with the following conditions: All
subsequent log calls except the first one are being ignored.


    lifecycle_nodes = [
        'controller_server',
        'smoother_server',
        'planner_server',
        'behavior_server',
        'velocity_smoother',
        'collision_monitor',
        'bt_navigator',
        'waypoint_follower',
    ]


        RCLCPP_ERROR(rclcpp::get_logger(kDynamixelHardware), "%s", log);
      }

      return return_type::OK;
    }

    return_type DynamixelHardware::enable_torque(const bool enabled)
    {
      const char * log = nullptr;

      if (enabled && !torque_enabled_) {
        for (uint i = 0; i < info_.joints.size(); ++i) {
          if (!dynamixel_workbench_.torqueOn(joint_ids_[i], &log)) {
            RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
            return return_type::ERROR;
          }
        }
        reset_command();
        RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "Torque enabled");
      } else if (!enabled && torque_enabled_) {
        for (uint i = 0; i < info_.joints.size(); ++i) {
          if (!dynamixel_workbench_.torqueOff(joint_ids_[i], &log)) {
            RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
            return return_type::ERROR;
          }
        }
        RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "Torque disabled");
      }

      torque_enabled_ = enabled;
      return return_type::OK;
    }

    return_type DynamixelHardware::set_control_mode(const ControlMode & mode, const bool force_set)
    {
      const char * log = nullptr;

      if (mode == ControlMode::Velocity && (force_set || control_mode_ != ControlMode::Velocity)) {
        bool torque_enabled = torque_enabled_;
        if (torque_enabled) {
          enable_torque(false);
        }

        for (uint i = 0; i < joint_ids_.size(); ++i) {
          if (!dynamixel_workbench_.setVelocityControlMode(joint_ids_[i], &log)) {
            RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
            return return_type::ERROR;
          }
        }
        RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "Velocity control");
        control_mode_ = ControlMode::Velocity;

        if (torque_enabled) {
          enable_torque(true);
        }
      } else if (
        mode == ControlMode::Position && (force_set || control_mode_ != ControlMode::Position)) {
        bool torque_enabled = torque_enabled_;
        if (torque_enabled) {
          enable_torque(false);


    #include "ros2_logging_fmt/ros2_logging_fmt.hpp"

    int main(int argc, char * argv[])
    {
      rclcpp::init(argc, argv);
      rclcpp::Node node("test_node");

      std::string world = "world";

      RCLCPP_INFO(node.get_logger(), "Hello %s number %d", world.c_str(), 42);
      RCLCPP_ERROR(node.get_logger(), "We have %d errors", 99);
      RCLCPP_WARN(node.get_logger(), "Warning: %f > %f", 30.1, 30.0);
      RCLCPP_DEBUG(node.get_logger(), "DEBUG MESSAGE");

      ros2_logging_fmt::Logger logger(node.get_logger());

      logger.info("Hello {} number {}", world, 42);
      logger.error("We have {} errors", 99);
      logger.warn("Warning: {} > {}", 30.1, 30.0);
      logger.debug("DEBUG MESSAGE");

      rclcpp::shutdown();
      return 0;
    }


**Definition:** logger.hpp:63


"First argument to logging macros must be an rclcpp::Logger"  ); \


RCUTILS_LOG_FATAL_EXPRESSION_NAMED( \


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_FATAL_ONCE


    load_nodes = GroupAction(
        condition=IfCondition(PythonExpression(['not ', use_composition])),
        actions=[
            SetParameter('use_sim_time', use_sim_time),
            Node(
                package='nav2_controller',
                executable='controller_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
            ),
            Node(
                package='nav2_smoother',
                executable='smoother_server',
                name='smoother_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings,
            ),
            Node(
                package='nav2_planner',
                executable='planner_server',
                name='planner_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings,
            ),
            Node(
                package='nav2_behaviors',
                executable='behavior_server',
                name='behavior_server',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')],
            ),
            Node(
                package='nav2_bt_navigator',
                executable='bt_navigator',
                name='bt_navigator',
                output='screen',
                respawn=use_respawn,
                respawn_delay=2.0,
                parameters=[configured_params],
                arguments=['--ros-args', '--log-level', log_level],
                remappings=remappings,
            ),
            Node(
                package='nav2_waypoint_follower',


Must be changed to:
` <maintainer email="user@todo.todo">user</maintainer> ` .


static_assert( \


#define RCLCPP_FATAL_ONCE  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
function  |  The functions return value determines if the message should be
logged
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_WARN_SKIPFIRST


Log a message with severity INFO with the following conditions: Log calls are
being ignored when the expression evaluates to false.


* Overview


rclcpp  master


RCUTILS_LOG_ERROR_SKIPFIRST_NAMED( \


#define RCLCPP_ERROR_FUNCTION  |  (  |  |  logger,
---|---|---|---
|  |  |  function,
|  |  |  _..._
|  )  |  |

**Value:**


expression, \


RCUTILS_LOG_DEBUG_ONCE_NAMED( \


Hi [ @PhongNguyen ](/u/phongnguyen) ,


###  rclcpp  ï


[ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html)


**Definition:** logger.hpp:63


#define RCLCPP_INFO_EXPRESSION  |  (  |  |  logger,
---|---|---|---
|  |  |  expression,
|  |  |  _..._
|  )  |  |

**Value:**


function  , \


      return command_interfaces;
    }

    CallbackReturn DynamixelHardware::on_activate(const rclcpp_lifecycle::State & previous_state)
    {
      RCLCPP_DEBUG(rclcpp::get_logger(kDynamixelHardware), "start");
      for (uint i = 0; i < joints_.size(); i++) {
        if (use_dummy_ && std::isnan(joints_[i].state.position)) {
          joints_[i].state.position = 0.0;
          joints_[i].state.velocity = 0.0;
          joints_[i].state.effort = 0.0;
        }
      }
      read();
      reset_command();
      write();

      return CallbackReturn::SUCCESS;
    }

    CallbackReturn DynamixelHardware::on_deactivate(const rclcpp_lifecycle::State & previous_state)
    {
      RCLCPP_DEBUG(rclcpp::get_logger(kDynamixelHardware), "stop");
      return CallbackReturn::SUCCESS;
    }

    return_type DynamixelHardware::read()
    {
      if (use_dummy_) {
        return return_type::OK;
      }

      std::vector<uint8_t> ids(info_.joints.size(), 0);
      std::vector<int32_t> positions(info_.joints.size(), 0);
      std::vector<int32_t> velocities(info_.joints.size(), 0);
      std::vector<int32_t> currents(info_.joints.size(), 0);

      std::copy(joint_ids_.begin(), joint_ids_.end(), ids.begin());
      const char * log = nullptr;

      if (!dynamixel_workbench_.syncRead(
            kPresentPositionVelocityCurrentIndex, ids.data(), ids.size(), &log)) {
        RCLCPP_ERROR(rclcpp::get_logger(kDynamixelHardware), "%s", log);
      }

      if (!dynamixel_workbench_.getSyncReadData(
            kPresentPositionVelocityCurrentIndex, ids.data(), ids.size(),
            control_items_[kPresentCurrentItem]->address,
            control_items_[kPresentCurrentItem]->data_length, currents.data(), &log)) {
        RCLCPP_ERROR(rclcpp::get_logger(kDynamixelHardware), "%s", log);
      }

      if (!dynamixel_workbench_.getSyncReadData(
            kPresentPositionVelocityCurrentIndex, ids.data(), ids.size(),
            control_items_[kPresentVelocityItem]->address,
            control_items_[kPresentVelocityItem]->data_length, velocities.data(), &log)) {
        RCLCPP_ERROR(rclcpp::get_logger(kDynamixelHardware), "%s", log);
      }


:: [ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html) < [
std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)
<decltype(logger)>::type, :: [ rclcpp::Logger ](classrclcpp_1_1_logger.html)
>::value, \


#  ros2_logging_fmt


RCUTILS_LOG_FATAL_ONCE_NAMED( \


* See the [ rclcpp logging demo ](https://github.com/ros2/demos/tree/foxy/logging_demo) for some simple examples.


Log a message with severity ERROR with the following conditions: Log calls are
being ignored when the expression evaluates to false.


from ament_index_python.packages import get_package_share_directory


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_ERROR_EXPRESSION


#define RCLCPP_INFO  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


Logger names represent a hierarchy. If the level of a logger named
âabc.defâ is unset, it will defer to the level of its parent named
âabcâ, and if that level is also unset, the default logger level will be
used. When the level of logger âabcâ is changed, all of its descendants
(e.g. âabc.defâ, âabc.ghi.jklâ) will have their level impacted unless
their level has been explicitly set.


Yes, this is the cause of the problem. Whoever made the package made it long
back.
There must have been recent updates to ` package.xml ` reading code that
checks for email to be a valid format like ` <...>@<...>.<...> ` .


Explore


##  Logging subsystem design  ï


[ std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)


We read every piece of feedback, and take your input very seriously.


logger.get_name(), \


#define RCLCPP_INFO_ONCE  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


###  Resources


    declare_params_file_cmd = DeclareLaunchArgument(
        'params_file',
        default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
        description='Full path to the ROS2 parameters file to use for all launched nodes',
    )


#define RCLCPP_DEBUG  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


    Finished <<< spawn_solo [0.89s]
    Finished <<< dynamixel_sdk_custom_interfaces [4.33s]
    Starting >>> dynamixel_sdk_examples
    Finished <<< dynamixel_workbench [0.66s]
    Finished <<< joint_trajectory_publisher [4.78s]
    Finished <<< dynamixel_sdk_examples [0.71s]
    --- stderr: dynamixel_hardware_interface
    Error parsing '/home/user/ros2_ws/src/dynamixel_hardware_interface/package.xml':
    Traceback (most recent call last):
      File "/opt/ros/galactic/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 151, in <module>
        main()
      File "/opt/ros/galactic/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 54, in main
        raise e
      File "/opt/ros/galactic/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py", line 50, in main
        package = parse_package_string(
      File "/usr/lib/python3/dist-packages/catkin_pkg/package.py", line 774, in parse_package_string
        pkg.validate(warnings=warnings)
      File "/usr/lib/python3/dist-packages/catkin_pkg/package.py", line 317, in validate
        raise InvalidPackage('\n'.join(errors), self.filename)
    catkin_pkg.package.InvalidPackage: Error(s) in package '/home/user/ros2_ws/src/dynamixel_hardware_interface/package.xml':
    Invalid email "to-do" for person "user"
    CMake Error at /opt/ros/galactic/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:94 (message):
      execute_process(/usr/bin/python3
      /opt/ros/galactic/share/ament_cmake_core/cmake/core/package_xml_2_cmake.py
      /home/user/ros2_ws/src/dynamixel_hardware_interface/package.xml
      /home/user/ros2_ws/build/dynamixel_hardware_interface/ament_cmake_core/package.cmake)
      returned error code 1
    Call Stack (most recent call first):
      /opt/ros/galactic/share/ament_cmake_core/cmake/core/ament_package_xml.cmake:49 (_ament_package_xml)
      /opt/ros/galactic/share/ament_lint_auto/cmake/ament_lint_auto_find_test_dependencies.cmake:31 (ament_package_xml)
      CMakeLists.txt:71 (ament_lint_auto_find_test_dependencies)

    make: *** [Makefile:222: cmake_check_build_system] Error 1
    ---
    Failed   <<< dynamixel_hardware_interface [2.53s, exited with code 2]

    Summary: 17 packages finished [6.67s]
      1 package failed: dynamixel_hardware_interface
      1 package had stderr output: dynamixel_hardware_interface
    user:~/ros2_ws$


* rclcpp


expression, \


[ rclcpp::Logger ](classrclcpp_1_1_logger.html)


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_SKIPFIRST  ` \- output the given printf-style message all but the first time this line is hit


[ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html)


[ The Construct ROS Community ](/)


##  Folders and files


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_WARN_EXPRESSION


Repositories


import os


Parameters


#define RCLCPP_ERROR  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


      const char * log = nullptr;

      RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "usb_port: %s", usb_port.c_str());
      RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "baud_rate: %d", baud_rate);

      if (!dynamixel_workbench_.init(usb_port.c_str(), baud_rate, &log)) {
        RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
        return CallbackReturn::ERROR;
      }

      for (uint i = 0; i < info_.joints.size(); ++i) {
        uint16_t model_number = 0;
        if (!dynamixel_workbench_.ping(joint_ids_[i], &model_number, &log)) {
          RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
          return CallbackReturn::ERROR;
        }
      }

      enable_torque(false);
      set_control_mode(ControlMode::Position, true);
      enable_torque(true);

      const ControlItem * goal_position =
        dynamixel_workbench_.getItemInfo(joint_ids_[0], kGoalPositionItem);
      if (goal_position == nullptr) {
        return CallbackReturn::ERROR;
      }

      const ControlItem * goal_velocity =
        dynamixel_workbench_.getItemInfo(joint_ids_[0], kGoalVelocityItem);
      if (goal_velocity == nullptr) {
        goal_velocity = dynamixel_workbench_.getItemInfo(joint_ids_[0], kMovingSpeedItem);
      }
      if (goal_velocity == nullptr) {
        return CallbackReturn::ERROR;
      }

      const ControlItem * present_position =
        dynamixel_workbench_.getItemInfo(joint_ids_[0], kPresentPositionItem);
      if (present_position == nullptr) {
        return CallbackReturn::ERROR;
      }

      const ControlItem * present_velocity =
        dynamixel_workbench_.getItemInfo(joint_ids_[0], kPresentVelocityItem);
      if (present_velocity == nullptr) {
        present_velocity = dynamixel_workbench_.getItemInfo(joint_ids_[0], kPresentSpeedItem);
      }
      if (present_velocity == nullptr) {
        return CallbackReturn::ERROR;
      }

      const ControlItem * present_current =
        dynamixel_workbench_.getItemInfo(joint_ids_[0], kPresentCurrentItem);
      if (present_current == nullptr) {
        present_current = dynamixel_workbench_.getItemInfo(joint_ids_[0], kPresentLoadItem);
      }
      if (present_current == nullptr) {
        return CallbackReturn::ERROR;
      }


Log messages have a severity level associated with them: ` DEBUG  ` , ` INFO
` , ` WARN  ` , ` ERROR  ` or ` FATAL  ` , in ascending order.


    configured_params = ParameterFile(
        RewrittenYaml(
            source_file=params_file,
            root_key=namespace,
            param_rewrites=param_substitutions,
            convert_types=True,
        ),
        allow_substs=True,
    )


[ Course Support  ](/c/course-support/ros2-control/69) [ ROS2 Control
Framework  ](/c/course-support/ros2-control/69)


RCUTILS_LOG_INFO_NAMED( \


**Definition:** logger.hpp:63


Regards,
Girish


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

* * *


      control_items_[kGoalPositionItem] = goal_position;
      control_items_[kGoalVelocityItem] = goal_velocity;
      control_items_[kPresentPositionItem] = present_position;
      control_items_[kPresentVelocityItem] = present_velocity;
      control_items_[kPresentCurrentItem] = present_current;

      if (!dynamixel_workbench_.addSyncWriteHandler(
            control_items_[kGoalPositionItem]->address, control_items_[kGoalPositionItem]->data_length,
            &log)) {
        RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
        return CallbackReturn::ERROR;
      }

      if (!dynamixel_workbench_.addSyncWriteHandler(
            control_items_[kGoalVelocityItem]->address, control_items_[kGoalVelocityItem]->data_length,
            &log)) {
        RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
        return CallbackReturn::ERROR;
      }

      uint16_t start_address = std::min(
        control_items_[kPresentPositionItem]->address, control_items_[kPresentCurrentItem]->address);
      uint16_t read_length = control_items_[kPresentPositionItem]->data_length +
                             control_items_[kPresentVelocityItem]->data_length +
                             control_items_[kPresentCurrentItem]->data_length + 2;
      if (!dynamixel_workbench_.addSyncReadHandler(start_address, read_length, &log)) {
        RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
        return CallbackReturn::ERROR;
      }

      return CallbackReturn::SUCCESS;
    }

    std::vector<hardware_interface::StateInterface> DynamixelHardware::export_state_interfaces()
    {
      RCLCPP_DEBUG(rclcpp::get_logger(kDynamixelHardware), "export_state_interfaces");
      std::vector<hardware_interface::StateInterface> state_interfaces;
      for (uint i = 0; i < info_.joints.size(); i++) {
        state_interfaces.emplace_back(hardware_interface::StateInterface(
          info_.joints[i].name, hardware_interface::HW_IF_POSITION, &joints_[i].state.position));
        state_interfaces.emplace_back(hardware_interface::StateInterface(
          info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &joints_[i].state.velocity));
        state_interfaces.emplace_back(hardware_interface::StateInterface(
          info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &joints_[i].state.effort));
      }

      return state_interfaces;
    }

    std::vector<hardware_interface::CommandInterface> DynamixelHardware::export_command_interfaces()
    {
      RCLCPP_DEBUG(rclcpp::get_logger(kDynamixelHardware), "export_command_interfaces");
      std::vector<hardware_interface::CommandInterface> command_interfaces;
      for (uint i = 0; i < info_.joints.size(); i++) {
        command_interfaces.emplace_back(hardware_interface::CommandInterface(
          info_.joints[i].name, hardware_interface::HW_IF_POSITION, &joints_[i].command.position));
        command_interfaces.emplace_back(hardware_interface::CommandInterface(
          info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &joints_[i].command.velocity));
      }


##  [ Releases ](/facontidavide/ros2_logging_fmt/releases)


[ facontidavide ](/facontidavide) /  **[ ros2_logging_fmt
](/facontidavide/ros2_logging_fmt) ** Public


master


  * [ ](../index.html)
  * [ Concepts ](../Concepts.html)
  * About logging and logger configuration
  * [ Edit on GitHub ](https://github.com/ros2/ros2_documentation/blob/foxy/source/Concepts/About-Logging.rst)


##  History


##  Logging usage  ï


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_ERROR_ONCE


[ ](https://github.com/)


Parameters


RCUTILS_LOG_INFO_SKIPFIRST_NAMED( \


"First argument to logging macros must be an rclcpp::Logger"  ); \


:: [ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html) < [
std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)
<decltype(logger)>::type, :: [ rclcpp::Logger ](classrclcpp_1_1_logger.html)
>::value, \


static_assert( \


Log a message with severity FATAL with the following conditions: Log calls are
being ignored when the expression evaluates to false.


Clear


* ` external_log_config_file  ` \- The external file to use to configure the backend logger. If it is NULL, the default configuration will be used. Note that the format of this file is backend-specific (and is currently unimplemented for the default backend logger of spdlog). This can be set with the following: ` ros2  run  demo_nodes_cpp  talker  --ros-args  --log-config-file  log-config.txt  `


[ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html)


The logging subsystem in ROS 2 aims to deliver logging messages to a variety
of targets, including:


Log a message with severity DEBUG with the following conditions: The first log
call is being ignored but all subsequent calls are being processed.


> ` <maintainer email="to-do">user</maintainer> `


**Definition:** logger.hpp:63


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_ONCE  ` \- output the given printf-style message only the first time this line is hit


[ Search syntax tips ](https://docs.github.com/search-github/github-code-
search/understanding-github-code-search-syntax)


Cancel  Create saved search


[ std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)


I don’t know if this ` email ` thing is the case and what is the root cause of
this?


    * [ Demos ](../Tutorials/Demos.html)
      * [ Using quality-of-service settings for lossy networks ](../Tutorials/Demos/Quality-of-Service.html)
      * [ Managing nodes with managed lifecycles ](../Tutorials/Demos/Managed-Nodes.html)
      * [ Setting up efficient intra-process communication ](../Tutorials/Demos/Intra-Process-Communication.html)
      * [ Recording and playing back data with ` rosbag  ` using the ROS 1 bridge ](../Tutorials/Demos/Rosbag-with-ROS1-Bridge.html)
      * [ Understanding real-time programming ](../Tutorials/Demos/Real-Time-Programming.html)
      * [ Experimenting with a dummy robot ](../Tutorials/Demos/dummy-robot-demo.html)
      * [ Logging ](../Tutorials/Demos/Logging-and-logger-configuration.html)
    * [ Miscellaneous ](../Tutorials/Miscellaneous.html)
      * [ Packaging your ROS 2 application as a snap [community-contributed] ](../Tutorials/Miscellaneous/Packaging-your-ROS-2-application-as-a-snap.html)
      * [ Deploying on IBM Cloud Kubernetes [community-contributed] ](../Tutorials/Miscellaneous/Deploying-ROS-2-on-IBM-Cloud.html)
      * [ Using Eclipse Oxygen with ` rviz2  ` [community-contributed] ](../Tutorials/Miscellaneous/Eclipse-Oxygen-with-ROS-2-and-rviz2.html)
      * [ Building a real-time Linux kernel [community-contributed] ](../Tutorials/Miscellaneous/Building-Realtime-rt_preempt-kernel-for-ROS-2.html)
      * [ Building a package with Eclipse 2021-06 ](../Tutorials/Miscellaneous/Building-ROS2-Package-with-eclipse-2021-06.html)
  * [ How-to Guides ](../How-To-Guides.html)
    * [ Installation troubleshooting ](../How-To-Guides/Installation-Troubleshooting.html)
    * [ Developing a ROS 2 package ](../How-To-Guides/Developing-a-ROS-2-Package.html)
    * [ ament_cmake user documentation ](../How-To-Guides/Ament-CMake-Documentation.html)
    * [ ament_cmake_python user documentation ](../How-To-Guides/Ament-CMake-Python-Documentation.html)
    * [ Migrating launch files from ROS 1 to ROS 2 ](../How-To-Guides/Launch-files-migration-guide.html)
    * [ Using Python, XML, and YAML for ROS 2 Launch Files ](../How-To-Guides/Launch-file-different-formats.html)
    * [ Using ROS 2 launch to launch composable nodes ](../How-To-Guides/Launching-composable-nodes.html)
    * [ Migrating YAML parameter files from ROS 1 to ROS 2 ](../How-To-Guides/Parameters-YAML-files-migration-guide.html)
    * [ Passing ROS arguments to nodes via the command-line ](../How-To-Guides/Node-arguments.html)
    * [ Synchronous vs. asynchronous service clients ](../How-To-Guides/Sync-Vs-Async.html)
    * [ DDS tuning information ](../How-To-Guides/DDS-tuning.html)
    * [ rosbag2: Overriding QoS Policies ](../How-To-Guides/Overriding-QoS-Policies-For-Recording-And-Playback.html)
    * [ Working with multiple ROS 2 middleware implementations ](../How-To-Guides/Working-with-multiple-RMW-implementations.html)
    * [ Cross-compilation ](../How-To-Guides/Cross-compilation.html)
    * [ Releasing a Package ](../How-To-Guides/Releasing/Releasing-a-Package.html)
      * [ First Time Release ](../How-To-Guides/Releasing/First-Time-Release.html)
      * [ Subsequent Releases ](../How-To-Guides/Releasing/Subsequent-Releases.html)
      * [ Release Team / Repository ](../How-To-Guides/Releasing/Release-Team-Repository.html)
      * [ Release Track ](../How-To-Guides/Releasing/Release-Track.html)
    * [ Using Python Packages with ROS 2 ](../How-To-Guides/Using-Python-Packages.html)
    * [ Porting RQt plugins to Windows ](../How-To-Guides/RQt-Port-Plugin-Windows.html)
    * [ Running ROS 2 nodes in Docker [community-contributed] ](../How-To-Guides/Run-2-nodes-in-single-or-separate-docker-containers.html)
    * [ Visualizing ROS 2 data with Foxglove Studio ](../How-To-Guides/Visualizing-ROS-2-Data-With-Foxglove-Studio.html)
    * [ ROS 2 Package Maintainer Guide ](../How-To-Guides/Package-maintainer-guide.html)
    * [ Building a custom Debian package ](../How-To-Guides/Building-a-Custom-Debian-Package.html)
    * [ Building ROS 2 with tracing instrumentation ](../How-To-Guides/Building-ROS-2-with-Tracing-Instrumentation.html)
    * [ Topics vs Services vs Actions ](../How-To-Guides/Topics-Services-Actions.html)
    * [ Using variants ](../How-To-Guides/Using-Variants.html)
    * [ Using the ` ros2  param  ` command-line tool ](../How-To-Guides/Using-ros2-param.html)
    * [ ROS 2 on Raspberry Pi ](../How-To-Guides/Installing-on-Raspberry-Pi.html)
    * [ Using Callback Groups ](../How-To-Guides/Using-callback-groups.html)
    * [ Setup ROS 2 with VSCode and Docker [community-contributed] ](../How-To-Guides/Setup-ROS-2-with-VSCode-and-Docker-Container.html)
    * [ Building RQt from source ](../How-To-Guides/RQt-Source-Install.html)
      * [ Building RQt from source on macOS ](../How-To-Guides/RQt-Source-Install-MacOS.html)
      * [ Building RQt from source on Windows 10 ](../How-To-Guides/RQt-Source-Install-Windows10.html)
  * [ Concepts ](../Concepts.html)
    * [ The ROS_DOMAIN_ID ](About-Domain-ID.html)
    * [ About different ROS 2 DDS/RTPS vendors ](About-Different-Middleware-Vendors.html)
    * About logging and logger configuration
    * [ About Quality of Service settings ](About-Quality-of-Service-Settings.html)
    * [ About ROS 2 client libraries ](About-ROS-2-Client-Libraries.html)
    * [ About ROS 2 interfaces ](About-ROS-Interfaces.html)
    * [ About parameters in ROS 2 ](About-ROS-2-Parameters.html)
    * [ Executors ](About-Executors.html)
    * [ About topic statistics ](About-Topic-Statistics.html)


logger.get_name(), \


Each node has a logger associated with it that automatically includes the
nodeâs name and namespace. If the nodeâs name is externally remapped to
something other than what is defined in the source code, it will be reflected
in the logger name. Non-node loggers can also be created that use a specific
name.


Parameters


##  ◆  RCLCPP_LOG_MIN_SEVERITY_DEBUG


Log a message with severity INFO with the following conditions: The first log
call is being ignored but all subsequent calls are being processed.


#define RCLCPP_WARN_EXPRESSION  |  (  |  |  logger,
---|---|---|---
|  |  |  expression,
|  |  |  _..._
|  )  |  |

**Value:**


Log a message with severity FATAL.


static_assert( \


[ src ](/facontidavide/ros2_logging_fmt/tree/master/src "src")


C++  Python


* ` once  ` \- if True, only output the message the first time this line is hit


* README


Log a message with severity DEBUG with the following conditions: Log calls are
being ignored when the expression evaluates to false.


[ Sign in
](/login?return_to=https%3A%2F%2Fgithub.com%2Ffacontidavide%2Fros2_logging_fmt)


[ package.xml ](/facontidavide/ros2_logging_fmt/blob/master/package.xml
"package.xml")


#  About logging and logger configuration  ï


**Definition:** logger.hpp:63


[ Report repository ](/contact/report-
content?content_url=https%3A%2F%2Fgithub.com%2Ffacontidavide%2Fros2_logging_fmt&report=facontidavide+%28user%29)


def generate_launch_description():
    # Get the launch directory
    bringup_dir = get_package_share_directory('nav2_bringup')


Log a message with severity INFO.


    declare_use_composition_cmd = DeclareLaunchArgument(
        'use_composition',
        default_value='False',
        description='Use composed bringup if True',
    )


RCUTILS_LOG_FATAL_SKIPFIRST_NAMED( \


In Development


#  facontidavide/ros2_logging_fmt


static_assert( \


[ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html)


* ` log_stdout_disabled  ` \- Whether to disable writing log messages to the console. This can be done with the following: ` ros2  run  demo_nodes_cpp  talker  --ros-args  --disable-stdout-logs  `


[ rclcpp::Logger ](classrclcpp_1_1_logger.html)


return ld


And below is the error from the terminal which make the package compiled
unsuccessfully:


#define RCLCPP_ERROR_ONCE  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


[ error ](https://get-help.theconstruct.ai/tag/error) , [ howto ](https://get-
help.theconstruct.ai/tag/howto)


##  APIs  ï


#define RCLCPP_LOG_MIN_SEVERITY_INFO 1
---

##  ◆  RCLCPP_LOG_MIN_SEVERITY_WARN


It is the same as [ rclcpp logging
](https://docs.ros.org/en/foxy/Tutorials/Logging-and-logger-
configuration.html) but much nicer, using [ fmt
](https://github.com/fmtlib/fmt) instead of **printf-like** formatting.


© Copyright 2024, Open Robotics.


  * More type safe that "printf-style" API.
  * [ Faster execution ](https://github.com/fmtlib/fmt#speed-tests) .
  * Powerful syntax (see [ examples ](https://fmt.dev/latest/syntax.html#format-examples) ).
  * Thread safe.
  * It will not allocate any memory (unless for particularly long messages, and only once).


Parameters


"First argument to logging macros must be an rclcpp::Logger"  ); \


#define RCLCPP_DEBUG_EXPRESSION  |  (  |  |  logger,
---|---|---|---
|  |  |  expression,
|  |  |  _..._
|  )  |  |

**Value:**


    declare_container_name_cmd = DeclareLaunchArgument(
        'container_name',
        default_value='nav2_container',
        description='the name of conatiner that nodes will load in if use composition',
    )


[ ](https://github.com "GitHub") © 2024 GitHub, Inc.


* rcl_logging_spdlog


RCUTILS_LOG_WARN_EXPRESSION_NAMED( \


[ Rolling ](../../rolling/index.html)


* ` rclpy.logging.get_logger_effective_level  ` \- Given a logger name, return the logger level (which may be unset)


    user:~/ros2_ws$ colcon build --symlink-install
    [0.339s] WARNING:colcon.colcon_core.package_identification:Failed to parse ROS package manifest in 'src/dynamixel_hardware_interface': Error(s) in package 'src/dynamixel_hardware_interface/package.xml':
    Invalid email "to-do" for person "user"
    [0.469s] WARNING:colcon.colcon_core.verb:Some selected packages are already built in one or more underlay workspaces:
            'diffbot_description' is in: /home/user/ros2_ws/install/diffbot_description
            'diffbot_sim' is in: /home/user/ros2_ws/install/diffbot_sim
            'dynamixel_sdk' is in: /home/user/ros2_ws/install/dynamixel_sdk
            'dynamixel_sdk_custom_interfaces' is in: /home/user/ros2_ws/install/dynamixel_sdk_custom_interfaces
            'joint_trajectory_publisher' is in: /home/user/ros2_ws/install/joint_trajectory_publisher
            'my_robot_bringup' is in: /home/user/ros2_ws/install/my_robot_bringup
            'my_robot_hardware_interface' is in: /home/user/ros2_ws/install/my_robot_hardware_interface
            'rrbot_unit2' is in: /home/user/ros2_ws/install/rrbot_unit2
            'rrbot_unit3' is in: /home/user/ros2_ws/install/rrbot_unit3
            'rrbot_unit4' is in: /home/user/ros2_ws/install/rrbot_unit4
            'rrbot_unit5' is in: /home/user/ros2_ws/install/rrbot_unit5
            'solo_description' is in: /home/user/ros2_ws/install/solo_description
            'spawn_robot' is in: /home/user/ros2_ws/install/spawn_robot
            'spawn_solo' is in: /home/user/ros2_ws/install/spawn_solo
            'dynamixel_sdk_examples' is in: /home/user/ros2_ws/install/dynamixel_sdk_examples
            'dynamixel_workbench_toolbox' is in: /home/user/ros2_ws/install/dynamixel_workbench_toolbox
            'dynamixel_hardware_interface' is in: /home/user/ros2_ws/install/dynamixel_hardware_interface
            'dynamixel_workbench' is in: /home/user/ros2_ws/install/dynamixel_workbench
    If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.
    If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

    If you understand the risks and want to override a package anyways, add the following to the command line:
            --allow-overriding diffbot_description diffbot_sim dynamixel_hardware_interface dynamixel_sdk dynamixel_sdk_custom_interfaces dynamixel_sdk_examples dynamixel_workbench dynamixel_workbench_toolbox joint_trajectory_publisher my_robot_bringup my_robot_hardware_interface rrbot_unit2 rrbot_unit3 rrbot_unit4 rrbot_unit5 solo_description spawn_robot spawn_solo

    This may be promoted to an error in a future release of colcon-core.
    Starting >>> dynamixel_sdk
    Starting >>> dynamixel_sdk_custom_interfaces
    Starting >>> diffbot_description
    Starting >>> diffbot_sim
    Starting >>> joint_trajectory_publisher
    Starting >>> my_robot_bringup
    Starting >>> my_robot_hardware_interface
    Starting >>> rrbot_unit2
    Finished <<< diffbot_description [1.70s]
    Starting >>> rrbot_unit3
    Finished <<< my_robot_bringup [1.82s]
    Finished <<< diffbot_sim [1.87s]
    Starting >>> rrbot_unit4
    Starting >>> rrbot_unit5
    Finished <<< rrbot_unit2 [1.92s]
    Starting >>> solo_description
    Finished <<< dynamixel_sdk [2.30s]
    Finished <<< my_robot_hardware_interface [2.20s]
    Starting >>> dynamixel_workbench_toolbox
    Starting >>> spawn_robot
    Finished <<< rrbot_unit3 [1.50s]
    Starting >>> spawn_solo
    Finished <<< rrbot_unit5 [1.45s]
    Finished <<< spawn_robot [1.13s]
    Finished <<< solo_description [1.42s]
    Finished <<< rrbot_unit4 [1.61s]
    Finished <<< dynamixel_workbench_toolbox [1.52s]
    Starting >>> dynamixel_hardware_interface
    Starting >>> dynamixel_workbench


RCUTILS_LOG_FATAL_NAMED( \


* [ Pricing ](/pricing)


Log a message with severity DEBUG with the following conditions: Log calls are
being ignored when the function returns false.


Powered by [ Discourse ](https://www.discourse.org) , best viewed with
JavaScript enabled


                        name='collision_monitor',
                        parameters=[configured_params],
                        remappings=remappings,
                    ),
                    ComposableNode(
                        package='nav2_lifecycle_manager',
                        plugin='nav2_lifecycle_manager::LifecycleManager',
                        name='lifecycle_manager_navigation',
                        parameters=[
                            {'autostart': autostart, 'node_names': lifecycle_nodes}
                        ],
                    ),
                ],
            ),
        ],
    )


For


RCUTILS_LOG_INFO_EXPRESSION_NAMED( \


Last commit message


static_assert( \


:: [ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html) < [
std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)
<decltype(logger)>::type, :: [ rclcpp::Logger ](classrclcpp_1_1_logger.html)
>::value, \


[ Go to the source code of this file. ](logging_8hpp_source.html)


This topic was automatically closed 7 days after the last reply. New replies
are no longer allowed.


Last commit date

---|---|---|---

##  Latest commit


[ std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)


Note that this is a _per-process_ logging implementation, so anything that is
configured at this level will affect the entire process, not just individual
nodes.


#define RCLCPP_LOG_MIN_SEVERITY_DEBUG 0
---

##  ◆  RCLCPP_LOG_MIN_SEVERITY_INFO


logger.get_name(), \


To see all available qualifiers, see our [ documentation
](https://docs.github.com/search-github/github-code-search/understanding-
github-code-search-syntax) .


When initializing a ROS 2 node, it is possible to control some aspects of the
behavior via node options. Since these are per-node options, they can be set
differently for different nodes even when the nodes are composed into a single
process.


* APIs


Hi [ @girishkumar.kannan ](/u/girishkumar.kannan)


Skip to content


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Change the following line indicated below in ` package.xml ` :


[ rclcpp::Logger ](classrclcpp_1_1_logger.html)


RCUTILS_LOG_WARN_ONCE_NAMED( \


You signed in with another tab or window. [ Reload ]() to refresh your
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    declare_namespace_cmd = DeclareLaunchArgument(
        'namespace', default_value='', description='Top-level namespace'
    )


Go to file


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](https://github.com/readthedocs/sphinx_rtd_theme) provided by [ Read the Docs
](https://readthedocs.org) .


#define RCLCPP_DEBUG_ONCE  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


Code


#define RCLCPP_ERROR_SKIPFIRST  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


* ` RCLCPP_{DEBUG,INFO,WARN,ERROR,FATAL}_FUNCTION  ` \- output the given printf-style message only if the given function returns true


![](https://get-
help.robotigniteacademy.com/letter_avatar_proxy/v4/letter/p/3e96dc/48.png)
PhongNguyen:


Cancel  Submit feedback


expression, \


#define RCLCPP_LOG_MIN_SEVERITY_ERROR 3
---

##  ◆  RCLCPP_LOG_MIN_SEVERITY_FATAL


  * [ Installation ](../Installation.html)
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      * [ Galactic Geochelone ( ` galactic  ` ) ](../Releases/Release-Galactic-Geochelone.html)
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      * [ Beta 1 ( ` Asphalt  ` ) ](../Releases/Beta1-Overview.html)
      * [ Alphas ](../Releases/Alpha-Overview.html)
    * [ Development process for a release ](../Releases/Release-Process.html)
  * [ Tutorials ](../Tutorials.html)
    * [ Beginner: CLI tools ](../Tutorials/Beginner-CLI-Tools.html)
      * [ Configuring environment ](../Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html)
      * [ Using ` turtlesim  ` , ` ros2  ` , and ` rqt  ` ](../Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.html)
      * [ Understanding nodes ](../Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Nodes/Understanding-ROS2-Nodes.html)
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      * [ Understanding services ](../Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Services/Understanding-ROS2-Services.html)
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      * [ Understanding actions ](../Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.html)
      * [ Using ` rqt_console  ` to view logs ](../Tutorials/Beginner-CLI-Tools/Using-Rqt-Console/Using-Rqt-Console.html)
      * [ Launching nodes ](../Tutorials/Beginner-CLI-Tools/Launching-Multiple-Nodes/Launching-Multiple-Nodes.html)
      * [ Recording and playing back data ](../Tutorials/Beginner-CLI-Tools/Recording-And-Playing-Back-Data/Recording-And-Playing-Back-Data.html)
    * [ Beginner: Client libraries ](../Tutorials/Beginner-Client-Libraries.html)
      * [ Using ` colcon  ` to build packages ](../Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html)
      * [ Creating a workspace ](../Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html)
      * [ Creating a package ](../Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html)
      * [ Writing a simple publisher and subscriber (C++) ](../Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html)
      * [ Writing a simple publisher and subscriber (Python) ](../Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.html)
      * [ Writing a simple service and client (C++) ](../Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Service-And-Client.html)


[ README.md ](/facontidavide/ros2_logging_fmt/blob/master/README.md
"README.md")


* See the [ rclpy examples ](https://github.com/ros2/examples/blob/foxy/rclpy/services/minimal_client/examples_rclpy_minimal_client/client.py) for example usage of a nodeâs logger.


##  ◆  RCLCPP_DEBUG


Log a message with severity WARN with the following conditions: Log calls are
being ignored when the expression evaluates to false.


"First argument to logging macros must be an rclcpp::Logger"  ); \


Parameters


[ std::remove_reference
](http://en.cppreference.com/w/cpp/types/remove_reference.html)


##  Overview  ï


logger.get_name(), \


#define RCLCPP_FATAL  |  (  |  |  logger,
---|---|---|---
|  |  |  _..._
|  )  |  |

**Value:**


RCUTILS_LOG_DEBUG_SKIPFIRST_NAMED( \


##  Languages


I have gone through and set up all the Exercises as guidance:
Here is my **dynamixel_hardware_interface.cpp** after all the exercises:


Log a message with severity WARN with the following conditions: The first log
call is being ignored but all subsequent calls are being processed.


**Definition:** logger.hpp:63


     logger  |  The ` [ rclcpp::Logger ](classrclcpp_1_1_logger.html) ` to use
---|---
function  |  The functions return value determines if the message should be
logged
...  |  The format string, followed by the variable arguments for the format
string

##  ◆  RCLCPP_FATAL_SKIPFIRST


function  , \


[ **32** stars ](/facontidavide/ros2_logging_fmt/stargazers)


Log a message with severity ERROR with the following conditions: The first log
call is being ignored but all subsequent calls are being processed.


Log a message with severity INFO with the following conditions: Log calls are
being ignored when the function returns false.


###  Watchers


###  Stars


Parameters


#define RCLCPP_FATAL_EXPRESSION  |  (  |  |  logger,
---|---|---|---
|  |  |  expression,
|  |  |  _..._
|  )  |  |

**Value:**


Log a message with severity ERROR with the following conditions: All
subsequent log calls except the first one are being ignored.


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[ rclcpp::Logger ](classrclcpp_1_1_logger.html)


[ std::is_same ](http://en.cppreference.com/w/cpp/types/is_same.html)


Advantages:


Hi,
ok, that sounds like something is off. With your object, if you set its
velocity like that before you do any attachment, does it react to it at all?
I'll have to look into the Gazebo set velocity code again to refresh my memory
on how it works. First, can you check if the object's velocity can be set
before you use the attachment with the plugin?
Also, you can try to set force and/or acceleration and see if that makes a
difference, just to see if everything works fine with the object in general.

---

All reactions


Jump to bottom


[ Calculate the angular velocity for each case ](/threads/calculate-the-
angular-velocity-for-each-case.1009600/)


#  Velocity seems to be set to 0 after detaching  #26


* [ Insights  The Slinky Drop Experiment Analysed ](/threads/the-slinky-drop-experiment-analysed.1061307/ "The Slinky Drop Experiment Analysed")


The object will move at the desired velocity. The amount of velocity error
depends on the PID gains chosen. Tune these until you get acceptable
performance.


* [ Intro Physics Homework Help ](https://www.physicsforums.com/forums/introductory-physics-homework-help.153/)


using [ SourceFilePath
](namespaceignition_1_1gazebo_1_1components.html#a43e542c813fb1fa3a30db7fc2ecca6df)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
std::string ](http://en.cppreference.com/w/cpp/string/basic_string.html) ,
class SourceFilePathTag, [ serializers::StringSerializer
](classignition_1_1gazebo_1_1serializers_1_1StringSerializer.html) >
---

This component holds the filepath to the source from which an entity is
created. For example, it can be used to store the file path of a model's
SDFormat file.


##  ◆  World


using [ AxisAlignedBox
](namespaceignition_1_1gazebo_1_1components.html#a1df47dd662e811de578a58bcb3fd29c0)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
ignition::math::AxisAlignedBox
](https://ignitionrobotics.org/api/math/6.8/classignition_1_1math_1_1AxisAlignedBox.html)
, class AxisAlignedBoxTag, [ serializers::AxisAlignedBoxSerializer
](namespaceignition_1_1gazebo_1_1serializers.html#a1c9a4c135632322e20e854fa73b90ed0)
>
---

A component type that contains axis aligned box, [
ignition::math::AxisAlignedBox
](https://ignitionrobotics.org/api/math/6.8/classignition_1_1math_1_1AxisAlignedBox.html)
, information. The axis aligned box is created from collisions in the entity.


            // create revolute joint with the world as a parent
            physics::ModelPtr model = _link->GetModel();
            physics::WorldPtr world = physics::get_world("default");
            physics::PhysicsEnginePtr engine = world->GetPhysicsEngine();
            this->joint = engine->CreateJoint("revolute");
            this->joint->SetName(model->GetName() + "__perfect_ang_joint__");
            physics::LinkPtr worldLink =
              boost::dynamic_pointer_cast<physics::Link>(world->GetByName("world"));
            math::Pose jointOrigin;
            this->joint->Load(worldLink, _link, jointOrigin);
            this->joint->Init();
            double magnitude = _vel.GetLength();
            this->joint->SetAxis(0, _vel.Normalize());
            this->joint->SetParam("fmax", 0, _maxTorque);
            this->joint->SetParam("vel", 0, magnitude);


[ ![@sven-
hoek](https://avatars.githubusercontent.com/u/15048669?s=80&u=1184c86424c64f25eb98710ad8c40e72cc3fb679&v=4)
](/sven-hoek)


Ah silly me, I am currently finishing other work on Trusty. Here I've had
trouble building libfranka so I didn't build all the franka_ros packages.
franka_gazebo was OK but I can't run the launch file because of the
dependencies I removed. Anyway the whole issue probably doesn't come up on
Trusty anyway, so I'd rather test on Bionic once I reboot into it again.
Unfortunately I'll have to wait until I finish the work on my Trusty boot
before I reboot.


using [ CastShadows
](namespaceignition_1_1gazebo_1_1components.html#ada3e87c57fb688f93c78a080c3f6fb54)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html)
<bool, class CastShadowsTag>
---

A component used to indicate that an entity casts shadows e.g. visual
entities.


After that I replaced the new version of the grasp plugin in my other
workspace. While compiling I got the following warning, which I got rid of by
pointing cmake to the right places. They also occured when using the Jaco
packages but there I got no error while starting Gazebo/loading the plugin
(see below). Just mentioning it in case it might have to do with the issue.


###  Set Velocity Instantaneously


__ Share


    cd Downloads/set_vel_plugin/
    mkdir build
    cd build
    cmake ..
    make
    GAZEBO_PLUGIN_PATH=. gazebo --pause --verbose ../set_velocity.world


##  ◆  CenterOfVolume


Copy link


Author


Search  [ Advanced search…  ](/search/)


using [ Level
](namespaceignition_1_1gazebo_1_1components.html#a4b54dd89230043e9339d2ce92fc3078c)
= [ Component ](classignition_1_1gazebo_1_1components_1_1Component.html) < [
NoData
](namespaceignition_1_1gazebo_1_1components.html#a1bc8946395bec54053d52820e79c5ad3)
, class LevelTag>
---

This component identifies an entity as being a level.


[ Search syntax tips ](https://docs.github.com/search-github/github-code-
search/understanding-github-code-search-syntax)


Configuring a joint motor is done using [ ` Joint::SetParam() ` ](http://osrf-
distributions.s3.amazonaws.com/gazebo/api/7.1.0/classgazebo_1_1physics_1_1Joint.html#a48402b4fa13b0209246396c0d726d914)
.


[ ![Google+](/assets/google_gray-
cc34826f560f99c7a9b7db88cd5f2db4d28fd4b3afcfa4b897435c51e3b25518.png)
](//plus.google.com/u/0/115981436296571800301?prsrc=3) [
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