Add log level argument to launch files

husarion · Dec 20, 2024 · da4e981 · da4e981
1 parent 99c941e
commit da4e981
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Showing 13 changed files with 188 additions and 17 deletions.
diff --git a/husarion_ugv_battery/launch/battery.launch.py b/husarion_ugv_battery/launch/battery.launch.py
@@ -21,6 +21,13 @@
 
 
 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",
@@ -34,10 +41,12 @@ def generate_launch_description():
         name="battery_driver",
         namespace=namespace,
         remappings=[("/diagnostics", "diagnostics")],
+        arguments=["--ros-args", "--log-level", log_level, "--log-level", "rcl:=INFO"],
         emulate_tty=True,
     )
 
     actions = [
+        declare_log_level_arg,
         declare_namespace_arg,
         battery_driver_node,
     ]

diff --git a/husarion_ugv_bringup/launch/bringup.launch.py b/husarion_ugv_bringup/launch/bringup.launch.py
@@ -44,6 +44,13 @@ def generate_launch_description():
         choices=["True", "true", "False", "false"],
     )
 
+    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",
@@ -62,7 +69,11 @@ def generate_launch_description():
                 [FindPackageShare("husarion_ugv_controller"), "launch", "controller.launch.py"]
             )
         ),
-        launch_arguments={"namespace": namespace, "common_dir_path": common_dir_path}.items(),
+        launch_arguments={
+            "log_level": log_level,
+            "namespace": namespace,
+            "common_dir_path": common_dir_path,
+        }.items(),
     )
 
     system_monitor_launch = IncludeLaunchDescription(
@@ -75,7 +86,7 @@ def generate_launch_description():
                 ]
             ),
         ),
-        launch_arguments={"namespace": namespace}.items(),
+        launch_arguments={"log_level": log_level, "namespace": namespace}.items(),
     )
 
     lights_launch = IncludeLaunchDescription(
@@ -84,7 +95,11 @@ def generate_launch_description():
                 [FindPackageShare("husarion_ugv_lights"), "launch", "lights.launch.py"]
             )
         ),
-        launch_arguments={"namespace": namespace, "common_dir_path": common_dir_path}.items(),
+        launch_arguments={
+            "log_level": log_level,
+            "namespace": namespace,
+            "common_dir_path": common_dir_path,
+        }.items(),
     )
 
     battery_launch = IncludeLaunchDescription(
@@ -93,7 +108,7 @@ def generate_launch_description():
                 [FindPackageShare("husarion_ugv_battery"), "launch", "battery.launch.py"]
             ),
         ),
-        launch_arguments={"namespace": namespace}.items(),
+        launch_arguments={"log_level": log_level, "namespace": namespace}.items(),
     )
 
     ekf_launch = IncludeLaunchDescription(
@@ -102,7 +117,11 @@ def generate_launch_description():
                 [FindPackageShare("husarion_ugv_localization"), "launch", "localization.launch.py"]
             )
         ),
-        launch_arguments={"namespace": namespace, "common_dir_path": common_dir_path}.items(),
+        launch_arguments={
+            "log_level": log_level,
+            "namespace": namespace,
+            "common_dir_path": common_dir_path,
+        }.items(),
     )
 
     manager_launch = IncludeLaunchDescription(
@@ -112,7 +131,11 @@ def generate_launch_description():
             )
         ),
         condition=UnlessCondition(disable_manager),
-        launch_arguments={"namespace": namespace, "common_dir_path": common_dir_path}.items(),
+        launch_arguments={
+            "log_level": log_level,
+            "namespace": namespace,
+            "common_dir_path": common_dir_path,
+        }.items(),
     )
 
     delayed_action = TimerAction(
@@ -128,6 +151,7 @@ def generate_launch_description():
     actions = [
         declare_common_dir_path_arg,
         declare_disable_manager_arg,
+        declare_log_level_arg,
         declare_namespace_arg,
         welcome_info,
         controller_launch,

diff --git a/husarion_ugv_controller/launch/controller.launch.py b/husarion_ugv_controller/launch/controller.launch.py
@@ -117,6 +117,13 @@ 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",
@@ -263,6 +270,11 @@ 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,
@@ -277,6 +289,11 @@ 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,
@@ -299,6 +316,11 @@ 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,
@@ -324,6 +346,7 @@ def generate_launch_description():
         declare_publish_robot_state_arg,
         declare_use_sim_arg,
         declare_wheel_config_path_arg,
+        declare_log_level_arg,
         SetParameter(name="use_sim_time", value=use_sim),
         control_node,
         robot_state_pub_node,

diff --git a/husarion_ugv_diagnostics/launch/system_monitor.launch.py b/husarion_ugv_diagnostics/launch/system_monitor.launch.py
@@ -26,6 +26,13 @@
 
 
 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",
@@ -53,10 +60,12 @@ def generate_launch_description():
         parameters=[system_monitor_config_path],
         namespace=namespace,
         remappings=[("/diagnostics", "diagnostics")],
+        arguments=["--ros-args", "--log-level", log_level, "--log-level", "rcl:=INFO"],
         emulate_tty=True,
     )
 
     actions = [
+        declare_log_level_arg,
         declare_namespace_arg,
         declare_system_monitor_config_path_arg,
         system_monitor_node,

diff --git a/husarion_ugv_gazebo/launch/simulate_robot.launch.py b/husarion_ugv_gazebo/launch/simulate_robot.launch.py
@@ -86,6 +86,13 @@ def generate_launch_description():
         description="Path to the parameter_bridge configuration file.",
     )
 
+    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",
@@ -108,6 +115,7 @@ def generate_launch_description():
         ),
         launch_arguments={
             "add_wheel_joints": "False",
+            "log_level": log_level,
             "namespace": namespace,
         }.items(),
     )
@@ -118,7 +126,11 @@ def generate_launch_description():
                 [FindPackageShare("husarion_ugv_lights"), "launch", "lights.launch.py"]
             )
         ),
-        launch_arguments={"namespace": namespace, "use_sim": "True"}.items(),
+        launch_arguments={
+            "log_level": log_level,
+            "namespace": namespace,
+            "use_sim": "True",
+        }.items(),
     )
 
     manager_launch = IncludeLaunchDescription(
@@ -127,7 +139,11 @@ def generate_launch_description():
                 [FindPackageShare("husarion_ugv_manager"), "launch", "manager.launch.py"]
             )
         ),
-        launch_arguments={"namespace": namespace, "use_sim": "True"}.items(),
+        launch_arguments={
+            "log_level": log_level,
+            "namespace": namespace,
+            "use_sim": "True",
+        }.items(),
         condition=UnlessCondition(disable_manager),
     )
 
@@ -142,6 +158,7 @@ def generate_launch_description():
             )
         ),
         launch_arguments={
+            "log_level": log_level,
             "namespace": namespace,
             "publish_robot_state": "False",
             "use_sim": "True",
@@ -158,7 +175,11 @@ def generate_launch_description():
                 ]
             )
         ),
-        launch_arguments={"namespace": namespace, "use_sim": "True"}.items(),
+        launch_arguments={
+            "log_level": log_level,
+            "namespace": namespace,
+            "use_sim": "True",
+        }.items(),
     )
 
     simulate_components = IncludeLaunchDescription(
@@ -191,6 +212,7 @@ def generate_launch_description():
         name="gz_bridge",
         parameters=[{"config_file": namespaced_gz_bridge_config_path}],
         namespace=namespace,
+        arguments=["--ros-args", "--log-level", log_level, "--log-level", "rcl:=INFO"],
         emulate_tty=True,
     )
 
@@ -217,6 +239,11 @@ 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,
@@ -230,6 +257,7 @@ def generate_launch_description():
         declare_components_config_path_arg,
         declare_disable_manager_arg,
         declare_gz_bridge_config_path_arg,
+        declare_log_level_arg,
         declare_namespace_arg,
         SetUseSimTime(True),
         spawn_robot_launch,

diff --git a/husarion_ugv_gazebo/launch/simulation.launch.py b/husarion_ugv_gazebo/launch/simulation.launch.py
@@ -39,6 +39,13 @@ def generate_launch_description():
         description="Run simulation with specific GUI layout.",
     )
 
+    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",
@@ -91,10 +98,12 @@ def generate_launch_description():
                 ]
             )
         ),
+        launch_arguments={"log_level": log_level}.items(),
     )
 
     actions = [
         declare_gz_gui,
+        declare_log_level_arg,
         declare_namespace_arg,
         declare_use_rviz_arg,
         # Sets use_sim_time for all nodes started below (doesn't work for nodes started from ignition gazebo)

diff --git a/husarion_ugv_gazebo/launch/spawn_robot.launch.py b/husarion_ugv_gazebo/launch/spawn_robot.launch.py
@@ -30,6 +30,12 @@
 
 
 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(
@@ -91,6 +97,7 @@ def generate_launch_description():
         ),
         launch_arguments={
             "add_wheel_joints": LaunchConfiguration("add_wheel_joints", default="True"),
+            "log_level": log_level,
             "namespace": namespace,
             "use_sim": "True",
         }.items(),
@@ -116,12 +123,18 @@ def generate_launch_description():
             pitch,
             "-Y",
             yaw,
+            "--ros-args",
+            "--log-level",
+            log_level,
+            "--log-level",
+            "rcl:=INFO",
         ],
         namespace=namespace,
         emulate_tty=True,
     )
 
     actions = [
+        declare_log_level_arg,
         declare_namespace_arg,
         declare_robot_model_arg,
         declare_x_arg,

diff --git a/husarion_ugv_lights/launch/lights.launch.py b/husarion_ugv_lights/launch/lights.launch.py
@@ -60,6 +60,13 @@ def generate_launch_description():
         description="Path to a YAML file with a description of led configuration.",
     )
 
+    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",
@@ -124,6 +131,7 @@ def generate_launch_description():
                 ],
             ),
         ],
+        arguments=["--ros-args", "--log-level", log_level, "--log-level", "rcl:=INFO"],
         emulate_tty=True,
         on_exit=Shutdown(),
     )
@@ -132,6 +140,7 @@ def generate_launch_description():
         declare_common_dir_path_arg,
         declare_robot_model_arg,  # robot_model is used by animations_config_path
         declare_animations_config_path_arg,
+        declare_log_level_arg,
         declare_namespace_arg,
         declare_use_sim_arg,
         declare_user_led_animations_path_arg,