Closed iftahnaf closed 1 year ago
We have a launch file that runs some nodes and executes a process.
We include RegisterEventHandler, and OnProcessExit that emits even Shutdown.
RegisterEventHandler
OnProcessExit
Shutdown
For some reason, it prints all the debug messages from the processing event.
processing event
When trying to change the default log level with rclpy.logging.set_logger_level('launch',20). it doesn't help and it print alot of DEBUG messages.
rclpy.logging.set_logger_level('launch',20)
DEBUG
Everything is working and the simulation running, just prints a lot of DEBUG messages.
Required Info:
Some part of the launch file:
... time.sleep(1.0) rclpy.logging.set_logger_level('launch', 20) def generate_launch_description(): proc_px4 = ExecuteProcess( cmd=['bash', '-c', f'cd /workspaces/drone/PX4-Autopilot && {mode} make px4_sitl gazebo-classic_iris__windy'], cwd='/tmp/px4', output='screen', emulate_tty=True ) node_offboard = Node( package='px4_offboard', namespace='offboard_control', executable='offboard_control', output='screen', name='offboard_control', parameters=[offboard_parameters], emulate_tty=True ) node_dds_agent = Node( package='micro_ros_agent', namespace='px4_offboard', executable='micro_ros_agent', name='micro_ros', output='screen', emulate_tty=True, arguments=['udp4', '--port', '8888'] ) recorder = ExecuteProcess( cmd=['ros2', 'bag', 'record', '-a', '-s', 'mcap','-o', f'db/{time.strftime("%Y-%m-%d_%H:%M:%S", time.gmtime())}'], ) sys_shut_down = RegisterEventHandler(OnProcessExit( target_action=node_offboard, on_exit=[ LogInfo(msg=(f'{bcolors.OKGREEN}The Scenario has ended!{bcolors.ENDC}')), EmitEvent(event=Shutdown( reason='Finished')) ] )) bridge_dir = get_package_share_directory('rosbridge_server') node_rosbridge = IncludeLaunchDescription(launch_description_sources.FrontendLaunchDescriptionSource(bridge_dir + '/launch/rosbridge_websocket_launch.xml')) ld = LaunchDescription([proc_px4, node_offboard, node_dds_agent, node_rosbridge,recorder, sys_shut_down]) return ld
printing only INFO logs.
INFO
log-level stays at DEBUG.
For example, the printings in the terminal:
[DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7ff86e6a8fd0>' [offboard_control-2] [INFO] [1692878921.169354088] [offboard_control.offboard_control]: State = P1, Position = [-0.012, 0.004, 0.059] [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7ff86e441cc0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7ff86e441cc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7ff86e3fbc10>' [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7ff86e6a8fd0>' [offboard_control-2] [INFO] [1692878921.429540288] [offboard_control.offboard_control]: State = P1, Position = [-0.012, 0.003, 0.060] [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7ff86e6a8fd0>' [offboard_control-2] [INFO] [1692878921.689481670] [offboard_control.offboard_control]: State = P1, Position = [-0.008, 0.003, 0.058] [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7ff86e441cc0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7ff86e441cc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7ff86e3fbc10>' [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7ff86e6a8fd0>' [offboard_control-2] [INFO] [1692878921.949650595] [offboard_control.offboard_control]: State = P1, Position = [-0.008, 0.004, 0.059] [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7ff86e441cc0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7ff86e441cc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7ff86f2edd20>' [bash-1] INFO [commander] Takeoff detected [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7ff86e441cc0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7ff86e441cc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7ff86e3fbc10>' [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7ff86e6a8fd0>' [offboard_control-2] [INFO] [1692878922.209572708] [offboard_control.offboard_control]: State = P1, Position = [-0.008, 0.004, 0.062] [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7ff86e6a8fd0>' [offboard_control-2] [INFO] [1692878922.469167765] [offboard_control.offboard_control]: State = P1, Position = [-0.007, 0.007, 0.061] [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStdout' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7ff86e441cc0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stdout.ProcessStdout object at 0x7ff86e441cc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7ff86e3fbc10>' [DEBUG] [launch.launch_context]: emitting event synchronously: 'launch.events.process.ProcessStderr' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' [DEBUG] [launch]: processing event: '<launch.events.process.process_stderr.ProcessStderr object at 0x7ff86e441cc0>' ✓ '<launch.event_handlers.on_process_io.OnProcessIO object at 0x7ff86e6a8fd0>' [offboard_control-2] [INFO] [1692878922.729625685] [offboard_control.offboard_control]: State = P1, Position = [-0.006, 0.007, 0.064]
solved by adding:
launch.logging.launch_config.level = logging.INFO
after importing:
import launch.logging import logging
Bug report
We have a launch file that runs some nodes and executes a process.
We include
RegisterEventHandler
, andOnProcessExit
that emits evenShutdown
.For some reason, it prints all the debug messages from the
processing event
.When trying to change the default log level with
rclpy.logging.set_logger_level('launch',20)
. it doesn't help and it print alot ofDEBUG
messages.Everything is working and the simulation running, just prints a lot of
DEBUG
messages.Required Info:
Steps to reproduce issue
Some part of the launch file:
Expected behavior
printing only
INFO
logs.Actual behavior
log-level stays at
DEBUG
.Additional information
For example, the printings in the terminal: