feat: implement launchfile for `rai_state_logs`

boczekbartek commented 3 days ago

Purpose

Adds ros2 launchfile to rai_state_logs.
Main purpose is easy integration with rai examples, after https://github.com/RobotecAI/rai/pull/314 is merged. launch.actions.IncludeLaunchDescription can be used for that

Proposed Changes

add ros2 launchile in python format for easy integration
add documentation for simple and with filters arguments running
add explanation for arguments

Issues

https://github.com/RobotecAI/rai/issues/323#issue-2698440361

Testing

With a simple logging node

import rclpy.node

class MyNode(rclpy.node.Node):
    def __init__(self):
        super().__init__("my_node")
        self.timer = self.create_timer(1.0, self.timer_callback)
        self.timer = self.create_timer(2.0, self.timer_callback2)
        self.timer = self.create_timer(3.0, self.timer_callback3)

    def timer_callback(self):
        self.get_logger().info("hello world!")

    def timer_callback2(self):
        self.get_logger().warning("hello world 2!")

    def timer_callback3(self):
        self.get_logger().error("hello world 3!")

if __name__ == "__main__":
    rclpy.init()
    node = MyNode()
    rclpy.spin(node)
    rclpy.shutdown()

run node above
launch rai_state_logs
call service with:

ros2 service call /get_log_digest rai_interfaces/srv/StringList

By default only WARN and ERROR messages are returned

ros2 launch rai_state_logs rai_state_logs.launch.py

With filters:

ros2 launch rai_state_logs rai_state_logs.launch.py filters:="[\"hello\"]"

Also INFO messages are returned, because they pass filtering and are regarded as interesting.

Summary by CodeRabbit

New Features
- Introduced customizable logging parameters: max_lines, include_meta, and clear_on_retrieval for enhanced log management.
- Added a new launch file for the rai_state_logs package, allowing dynamic configuration of logging parameters at runtime.
Documentation
- Added README.md for the rai_state_logs module, detailing functionality and configuration options.
Bug Fixes
- Improved feedback on filter configuration during node initialization.
Chores
- Added a new build dependency on launch_ros.

boczekbartek commented 3 days ago

@CodeRabbit full review

coderabbitai[bot] commented 3 days ago

Walkthrough

The pull request introduces enhancements to the rai_state_logs module and its integration with the TurtleBot4 launch file. Key changes include the addition of three new launch arguments in turtlebot.launch.xml, the replacement of an existing node with rai_state_logs, and the creation of a new launch file for the rai_state_logs package. Additionally, a new README file outlines the module's functionality and parameters, while updates to the CMakeLists.txt and package.xml files establish necessary dependencies and installation directives.

Changes

File Path	Change Summary
`src/examples/turtlebot4/turtlebot.launch.xml`	Added arguments: `max_lines`, `include_meta`, `clear_on_retrieval`. Replaced `rai_hmi` node with `rai_state_logs_node`.
`src/state_tools/rai_state_logs/CMakeLists.txt`	Added installation directive for `launch` directory.
`src/state_tools/rai_state_logs/README.md`	Created documentation for `rai_state_logs` module, detailing functionality and configurable parameters.
`src/state_tools/rai_state_logs/launch/rai_state_logs.launch.py`	Introduced new launch file defining `generate_launch_description()` for `rai_state_logs_node`.
`src/state_tools/rai_state_logs/package.xml`	Added build dependency: `launch_ros`.
`src/state_tools/rai_state_logs/src/rai_state_logs_node.cpp`	Enhanced logging in `LogDigestNode` constructor to output size of `filters_` vector.

Sequence Diagram(s)

sequenceDiagram
    participant User
    participant ROS2
    participant rai_state_logs_node

    User->>ROS2: Launch with parameters (max_lines, include_meta, clear_on_retrieval)
    ROS2->>rai_state_logs_node: Start node with parameters
    rai_state_logs_node->>rai_state_logs_node: Initialize filters and log settings
    rai_state_logs_node->>User: Acknowledge initialization with filter size
    User->>rai_state_logs_node: Request log digest
    rai_state_logs_node->>rai_state_logs_node: Process request and return log summary

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