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Added verbosity_level parameter. #833

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Merged
ahcorde merged 1 commit into from
Feb 9, 2026
Merged

Added verbosity_level parameter. #833

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27 changes: 24 additions & 3 deletions ros_gz_sim/ros_gz_sim/actions/gzserver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,7 @@ def __init__(
create_own_container: Union[bool, SomeSubstitutionsType] = False,
use_composition: Union[bool, SomeSubstitutionsType] = False,
initial_sim_time: Union[float, SomeSubstitutionsType] = 0.0,
verbosity_level: Union[int, SomeSubstitutionsType] = 4,
**kwargs
) -> None:
"""
Expand All @@ -109,6 +110,8 @@ def __init__(
:param: container_name Name of container that nodes will load in if use composition.
:param: create_own_container Whether to start a ROS container when using composition.
:param: use_composition Use composed bringup if True.
:param: initial_sim_time: The initial simulation time.
:param: verbosity_level: The verbosity level of the Gazebo server (0=FATAL, 4=DEBUG).
"""
super().__init__(**kwargs)
self.__world_sdf_file = world_sdf_file
Expand Down Expand Up @@ -140,6 +143,13 @@ def __init__(
else:
self.__initial_sim_time = normalize_typed_substitution(initial_sim_time, float)

if isinstance(verbosity_level, str):
self.__verbosity_level = normalize_typed_substitution(
TextSubstitution(text=verbosity_level), int
)
else:
self.__verbosity_level = normalize_typed_substitution(verbosity_level, int)

@classmethod
def parse(cls, entity: Entity, parser: Parser):
"""Parse gz_server."""
Expand Down Expand Up @@ -169,6 +179,10 @@ def parse(cls, entity: Entity, parser: Parser):
'initial_sim_time', data_type=str,
optional=True)

verbosity_level = entity.get_attr(
'verbosity_level', data_type=str,
optional=True)

if isinstance(world_sdf_file, str):
world_sdf_file = parser.parse_substitution(world_sdf_file)
kwargs['world_sdf_file'] = world_sdf_file
Expand All @@ -194,6 +208,10 @@ def parse(cls, entity: Entity, parser: Parser):
initial_sim_time = parser.parse_substitution(initial_sim_time)
kwargs['initial_sim_time'] = initial_sim_time

if isinstance(verbosity_level, str):
verbosity_level = parser.parse_substitution(verbosity_level)
kwargs['verbosity_level'] = verbosity_level

return cls, kwargs

def execute(self, context: LaunchContext) -> Optional[List[Action]]:
Expand Down Expand Up @@ -229,7 +247,8 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
output='screen',
parameters=[{'world_sdf_file': self.__world_sdf_file,
'world_sdf_string': self.__world_sdf_string,
'initial_sim_time': self.__initial_sim_time}],
'initial_sim_time': self.__initial_sim_time,
'verbosity_level': self.__verbosity_level}],
))

# Composable node with container configuration
Expand All @@ -246,7 +265,8 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
name='gz_server',
parameters=[{'world_sdf_file': self.__world_sdf_file,
'world_sdf_string': self.__world_sdf_string,
'initial_sim_time': self.__initial_sim_time}],
'initial_sim_time': self.__initial_sim_time,
'verbosity_level': self.__verbosity_level}],
extra_arguments=[{'use_intra_process_comms': True}],
),
],
Expand All @@ -264,7 +284,8 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
name='gz_server',
parameters=[{'world_sdf_file': self.__world_sdf_file,
'world_sdf_string': self.__world_sdf_string,
'initial_sim_time': self.__initial_sim_time}],
'initial_sim_time': self.__initial_sim_time,
'verbosity_level': self.__verbosity_level}],
extra_arguments=[{'use_intra_process_comms': True}],
),
],
Expand Down
3 changes: 2 additions & 1 deletion ros_gz_sim/src/gzserver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,8 +61,9 @@ void GzServer::OnStart()
auto world_sdf_file = this->declare_parameter("world_sdf_file", "");
auto world_sdf_string = this->declare_parameter("world_sdf_string", "");
auto initial_sim_time = this->declare_parameter("initial_sim_time", 0.0);
const auto verbosity_level = this->declare_parameter("verbosity_level", 4);

gz::common::Console::SetVerbosity(4);
gz::common::Console::SetVerbosity(verbosity_level);
gz::sim::ServerConfig server_config;

if (!world_sdf_file.empty()) {
Expand Down
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