logger.cpp

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/* Author: Tyler Weaver */
 
#include <rclcpp/rclcpp.hpp>
#include <moveit/utils/logger.hpp>
#include <string>
#include <rsl/random.hpp>
#include <fmt/format.h>
 
namespace moveit
{
 
// This is the function that stores the global logger used by moveit.
// As it returns a reference to the static logger it can be changed through the
// `setNodeLoggerName` function.
rclcpp::Logger& getGlobalRootLogger()
{
  static rclcpp::Logger logger = [&] {
    // A random number is appended to the name used for the node to make it unique.
    // This unique node and logger name is only used if a user does not set a logger
    // through the `setNodeLoggerName` method to their node's logger.
    auto name = fmt::format("moveit_{}", rsl::rng()());
    try
    {
      static auto* moveit_node = new rclcpp::Node(name);
      return moveit_node->get_logger();
    }
    catch (const std::exception& ex)
    {
      // rclcpp::init was not called so rcl context is null, return non-node logger
      auto logger = rclcpp::get_logger(name);
      RCLCPP_WARN_STREAM(logger, "exception thrown while creating node for logging: " << ex.what());
      RCLCPP_WARN(logger, "if rclcpp::init was not called, messages from this logger may be missing from /rosout");
      return logger;
    }
  }();
  return logger;
}
 
void setNodeLoggerName(const std::string& name)
{
  static auto node = std::make_shared<rclcpp::Node>("moveit", name);
  getGlobalRootLogger() = node->get_logger();
}
 
rclcpp::Logger getLogger(const std::string& name)
{
  return getGlobalRootLogger().get_child(name);
}
 
}  // namespace moveit