Config option to suppress debug output

[astumpf]

Context When running Wavemap we are seeing a lot of output spam

INFO|1695678518.782757590|/wavemap|ros.wavemap_ros: Integrated new pointcloud in 0.00649134s. Total integration time: 12.584s.
INFO|1695678518.826786662|/wavemap|ros.wavemap_ros: Inserting pointcloud with 28800 points. Remaining pointclouds in queue: 0.
INFO|1695678518.833032240|/wavemap|ros.wavemap_ros: Integrated new pointcloud in 0.00619076s. Total integration time: 12.5902s.
INFO|1695678518.976278673|/wavemap|ros.wavemap_ros: Inserting pointcloud with 28800 points. Remaining pointclouds in queue: 0.

Requested feature

Add an option to suppress any debug messages such as those:

https://github.com/ethz-asl/wavemap/blob/7fd41f70ea260e2ecfe379383caaf3bfab024b56/ros/wavemap_ros/src/input_handler/pointcloud_input_handler.cc#L230

https://github.com/ethz-asl/wavemap/blob/7fd41f70ea260e2ecfe379383caaf3bfab024b56/ros/wavemap_ros/src/input_handler/pointcloud_input_handler.cc#L239

(Optional) Suggest a solution Extend the config field by a new bool to enable debug output.

https://github.com/ethz-asl/wavemap/blob/7fd41f70ea260e2ecfe379383caaf3bfab024b56/ros/wavemap_ros/src/input_handler/pointcloud_input_handler.cc#L9

[victorreijgwart]

Hi Alexander, thanks for filing this feature request. I'll go through wavemap's logging messages and add more verbosity controls later this week.

For a temporary fix, it should be possible to reduce spam by setting the logger levels to only emit warnings and higher. Note that wavemap's ROS wrapper uses ROS's native logging but the libraries use GLOG (since they're ROS agnostic), so it's necessary to set both. To configure

• GLOG, add args="--minloglevel=1" to the params used to launch the wavemap node (GLOG documentation)
• ROS's native logging, you can use this service call

  <node name="set_wavemap_log_level" pkg="rosservice" type="rosservice" args="call --wait /wavemap/set_logger_level 'ros.wavemap_ros' 'warn'" />

[victorreijgwart]

PR #37 adds an option to set the logging level under:

map:
  general: 
    logging_level: info

The options are debug, info, warning, error, and fatal. I lowered the severity for the timing-related messages such that they only show up when the level is set to debug. This way wavemap is already relatively quiet when running at the default info level. Let me know if this solves your issue.

[astumpf]

So logging_level: info is already default? I've tested that version and even without any changes on my config I didn't get any "spam" prints anymore.

[victorreijgwart]

Yes, info is the default level. Great. Then I'll close this issue.