From 5512d6cbeb70c5cc8dcb112fc39b3b11c70d17b0 Mon Sep 17 00:00:00 2001
From: Milosz Lagan <milosz.lagan@husarion.com>
Date: Fri, 20 Dec 2024 13:50:26 +0000
Subject: [PATCH] Reduce verbosity of some nodes

---
 .../launch/controller.launch.py               | 37 ++++++++++++++++---
 .../launch/simulate_robot.launch.py           |  5 ---
 lynx_description/launch/load_urdf.launch.py   |  9 -----
 .../launch/load_urdf.launch.py                | 10 -----
 4 files changed, 32 insertions(+), 29 deletions(-)

diff --git a/husarion_ugv_controller/launch/controller.launch.py b/husarion_ugv_controller/launch/controller.launch.py
index 92597bcf3..a09b1a9c0 100644
--- a/husarion_ugv_controller/launch/controller.launch.py
+++ b/husarion_ugv_controller/launch/controller.launch.py
@@ -218,6 +218,25 @@ def generate_launch_description():
     )
     robot_description = {"robot_description": robot_description_content}
 
+    joint_state_broadcaster_log_level = PythonExpression(
+        [
+            "'",
+            namespace,
+            "' + '.joint_state_broadcaster:=INFO' if '",
+            namespace,
+            "' else 'joint_state_broadcaster:=INFO'",
+        ]
+    )
+    controller_manager_log_level = PythonExpression(
+        [
+            "'",
+            namespace,
+            "' + '.controller_manager:=INFO' if '",
+            namespace,
+            "' else 'controller_manager:=INFO'",
+        ]
+    )
+
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
@@ -246,6 +265,19 @@ def generate_launch_description():
                 "_joint_state_broadcaster/transition_event",
             ),
         ],
+        arguments=[
+            "--ros-args",
+            "--log-level",
+            log_level,
+            "--log-level",
+            "rcl:=INFO",
+            "--log-level",
+            "pluginlib.ClassLoader:=INFO",
+            "--log-level",
+            joint_state_broadcaster_log_level,
+            "--log-level",
+            controller_manager_log_level,
+        ],
         condition=UnlessCondition(use_sim),
         emulate_tty=True,
     )
@@ -289,11 +321,6 @@ def generate_launch_description():
             "controller_manager",
             "--controller-manager-timeout",
             "10",
-            "--ros-args",
-            "--log-level",
-            log_level,
-            "--log-level",
-            "rcl:=INFO",
         ],
         namespace=namespace,
         emulate_tty=True,
diff --git a/husarion_ugv_gazebo/launch/simulate_robot.launch.py b/husarion_ugv_gazebo/launch/simulate_robot.launch.py
index 0cf1373d2..18312ac52 100644
--- a/husarion_ugv_gazebo/launch/simulate_robot.launch.py
+++ b/husarion_ugv_gazebo/launch/simulate_robot.launch.py
@@ -239,11 +239,6 @@ def generate_launch_description():
             "world",
             "--child-frame-id",
             child_tf,
-            "--ros-args",
-            "--log-level",
-            log_level,
-            "--log-level",
-            "rcl:=INFO",
         ],
         namespace=namespace,
         emulate_tty=True,
diff --git a/lynx_description/launch/load_urdf.launch.py b/lynx_description/launch/load_urdf.launch.py
index 98787dcc6..cc3e6dbfc 100644
--- a/lynx_description/launch/load_urdf.launch.py
+++ b/lynx_description/launch/load_urdf.launch.py
@@ -84,13 +84,6 @@ def generate_launch_description():
         ),
     )
 
-    log_level = LaunchConfiguration("log_level")
-    declare_log_level_arg = DeclareLaunchArgument(
-        "log_level",
-        default_value="info",
-        description="Logging level",
-    )
-
     namespace = LaunchConfiguration("namespace")
     declare_namespace_arg = DeclareLaunchArgument(
         "namespace",
@@ -184,7 +177,6 @@ def generate_launch_description():
         package="joint_state_publisher",
         executable="joint_state_publisher",
         namespace=namespace,
-        arguments=["--ros-args", "--log-level", log_level, "--log-level", "rcl:=INFO"],
         emulate_tty=True,
         condition=IfCondition(add_wheel_joints),
     )
@@ -195,7 +187,6 @@ def generate_launch_description():
         declare_components_config_path_arg,
         declare_wheel_type_arg,  # wheel_type is used by controller_config_path
         declare_controller_config_path_arg,
-        declare_log_level_arg,
         declare_namespace_arg,
         declare_use_sim_arg,
         declare_wheel_config_path_arg,
diff --git a/panther_description/launch/load_urdf.launch.py b/panther_description/launch/load_urdf.launch.py
index 5b4e40aa9..1297f7c10 100644
--- a/panther_description/launch/load_urdf.launch.py
+++ b/panther_description/launch/load_urdf.launch.py
@@ -83,13 +83,6 @@ def generate_launch_description():
         ),
     )
 
-    log_level = LaunchConfiguration("log_level")
-    declare_log_level_arg = DeclareLaunchArgument(
-        "log_level",
-        default_value="info",
-        description="Logging level",
-    )
-
     namespace = LaunchConfiguration("namespace")
     declare_namespace_arg = DeclareLaunchArgument(
         "namespace",
@@ -176,7 +169,6 @@ def generate_launch_description():
             {"frame_prefix": namespace_ext},
         ],
         namespace=namespace,
-        arguments=["--ros-args", "--log-level", log_level, "--log-level", "rcl:=INFO"],
         emulate_tty=True,
     )
 
@@ -184,7 +176,6 @@ def generate_launch_description():
         package="joint_state_publisher",
         executable="joint_state_publisher",
         namespace=namespace,
-        arguments=["--ros-args", "--log-level", log_level, "--log-level", "rcl:=INFO"],
         emulate_tty=True,
         condition=IfCondition(add_wheel_joints),
     )
@@ -195,7 +186,6 @@ def generate_launch_description():
         declare_components_config_path_arg,
         declare_wheel_type_arg,  # wheel_type is used by controller_config_path
         declare_controller_config_path_arg,
-        declare_log_level_arg,
         declare_namespace_arg,
         declare_use_sim_arg,
         declare_wheel_config_path_arg,