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feat(logger_level_configure): make it possible to change level of container logger #6823

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merged 3 commits into from
Apr 17, 2024

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satoshi-ota
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@satoshi-ota satoshi-ota commented Apr 16, 2024

Description

We have to send service with container name when we change output level of stand alone logger rclcpp::get_logger. (08ece4c) Additionally, we need to load logging_demo::LoggerConfig node to the target container. (3089230)

Tests performed

Psim

$ ros2 service list | grep container_logger_configure
/control/control_validator_container/container_logger_configure/config_logger
/control/control_validator_container/container_logger_configure/describe_parameters
/control/control_validator_container/container_logger_configure/get_parameter_types
/control/control_validator_container/container_logger_configure/get_parameters
/control/control_validator_container/container_logger_configure/list_parameters
/control/control_validator_container/container_logger_configure/set_parameters
/control/control_validator_container/container_logger_configure/set_parameters_atomically
/planning/mission_planning/container_logger_configure/config_logger
/planning/mission_planning/container_logger_configure/describe_parameters
/planning/mission_planning/container_logger_configure/get_parameter_types
/planning/mission_planning/container_logger_configure/get_parameters
/planning/mission_planning/container_logger_configure/list_parameters
/planning/mission_planning/container_logger_configure/set_parameters
/planning/mission_planning/container_logger_configure/set_parameters_atomically
/planning/scenario_planning/container_logger_configure/config_logger
/planning/scenario_planning/container_logger_configure/describe_parameters
/planning/scenario_planning/container_logger_configure/get_parameter_types
/planning/scenario_planning/container_logger_configure/get_parameters
/planning/scenario_planning/container_logger_configure/list_parameters
/planning/scenario_planning/container_logger_configure/set_parameters
/planning/scenario_planning/container_logger_configure/set_parameters_atomically
/planning/scenario_planning/lane_driving/behavior_planning/container_logger_configure/config_logger
/planning/scenario_planning/lane_driving/behavior_planning/container_logger_configure/describe_parameters
/planning/scenario_planning/lane_driving/behavior_planning/container_logger_configure/get_parameter_types
/planning/scenario_planning/lane_driving/behavior_planning/container_logger_configure/get_parameters
/planning/scenario_planning/lane_driving/behavior_planning/container_logger_configure/list_parameters
/planning/scenario_planning/lane_driving/behavior_planning/container_logger_configure/set_parameters
/planning/scenario_planning/lane_driving/behavior_planning/container_logger_configure/set_parameters_atomically
$ ros2 component list
/map/map_container
  1  /map/pointcloud_map_loader
  2  /map/lanelet2_map_loader
  3  /map/lanelet2_map_visualization
  4  /map/vector_map_tf_generator
/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator_container
  1  /system/mrm_comfortable_stop_operator
/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container
  1  /planning/scenario_planning/lane_driving/behavior_planning/container_logger_configure
  2  /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner
  3  /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner
  4  /planning/scenario_planning/lane_driving/behavior_planning/glog_component
/perception/traffic_light_recognition/traffic_light_arbiter/container
  1  /perception/traffic_light_recognition/traffic_light_arbiter/arbiter
/planning/scenario_planning/parking/parking_container
No 'list_nodes' service response when listing components
/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container
  1  /planning/scenario_planning/lane_driving/motion_planning/config_logger
  2  /planning/scenario_planning/lane_driving/motion_planning/glog_component
  3  /planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter
  4  /planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother
  5  /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
  6  /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker
  7  /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner
/control/control_validator_container
  1  /control/control_validator_container/container_logger_configure
  2  /control/control_validator
  3  /control/glog_validator_component
/default_ad_api/container
  1  /default_ad_api/node/autoware_state
  2  /default_ad_api/node/fail_safe
  3  /default_ad_api/node/interface
  4  /default_ad_api/node/localization
  5  /default_ad_api/node/motion
  6  /default_ad_api/node/operation_mode
  7  /default_ad_api/node/perception
  8  /default_ad_api/node/planning
  9  /default_ad_api/node/routing
  10  /default_ad_api/node/vehicle
  11  /default_ad_api/node/vehicle_info
  12  /default_ad_api/node/vehicle_door
/autoware_api/external/rtc_controller/container
  1  /autoware_api/external/rtc_controller/node
/planning/mission_planning/mission_planner_container
  1  /planning/mission_planning/container_logger_configure
  2  /planning/mission_planning/mission_planner
  3  /planning/mission_planning/route_selector
  4  /planning/mission_planning/glog_component
/system/component_state_monitor/container
  1  /system/component_state_monitor/component
/pointcloud_container
  1  /pointcloud_container/glog_component
  2  /occupancy_grid_map/pointcloud_to_laserscan_node
  3  /occupancy_grid_map/occupancy_grid_map_node
/control/control_container
  1  /control/external_cmd_converter
  2  /control/external_cmd_selector
  3  /control/trajectory_follower/controller_node_exe
  4  /control/trajectory_follower/lane_departure_checker_node
  5  /control/shift_decider
  6  /control/vehicle_cmd_gate
  7  /control/operation_mode_transition_manager
  8  /control/glog_component
/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator_container
  1  /system/mrm_emergency_stop_operator
/planning/scenario_planning/motion_velocity_smoother_container
  1  /planning/scenario_planning/container_logger_configure
  2  /planning/scenario_planning/motion_velocity_smoother
  3  /planning/scenario_planning/glog_component

Effects on system behavior

Nothing.

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@github-actions github-actions bot added component:launch Launch files, scripts and initialization tools. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) labels Apr 16, 2024
@satoshi-ota satoshi-ota changed the title feat(launch): add logging_demo::LoggerConfig into container feat(launch): add logging_demo::LoggerConfig into container Apr 16, 2024
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LGTM

@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Apr 17, 2024
@satoshi-ota satoshi-ota changed the title feat(launch): add logging_demo::LoggerConfig into container feat(logger_level_configure): make it possible to change logger level in container Apr 17, 2024
@satoshi-ota satoshi-ota changed the title feat(logger_level_configure): make it possible to change logger level in container feat(logger_level_configure): make it possible to change level of container logger Apr 17, 2024
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@TakaHoribe TakaHoribe left a comment

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LGTM

@satoshi-ota satoshi-ota added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Apr 17, 2024
@satoshi-ota satoshi-ota merged commit 51b5f83 into autowarefoundation:main Apr 17, 2024
38 of 41 checks passed
@satoshi-ota satoshi-ota deleted the fix/logger-config branch April 17, 2024 23:41
satoshi-ota added a commit to tier4/autoware.universe that referenced this pull request Apr 18, 2024
satoshi-ota added a commit that referenced this pull request Apr 18, 2024
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…tainer logger (autowarefoundation#6823)

* feat(launch): add logging_demo::LoggerConfig into container

Signed-off-by: satoshi-ota <[email protected]>

* fix(logger_level_reconfigure_plugin): fix yaml

Signed-off-by: satoshi-ota <[email protected]>

* feat(logging_level_configure): add composable node

Signed-off-by: satoshi-ota <[email protected]>

---------

Signed-off-by: satoshi-ota <[email protected]>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
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3 participants