advanced_logging

Author: avanmalleghem

examples/advanced_logging/Cargo.toml

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+[package]
+name = "advanced_logging"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+rclrs = "*"
+std_msgs = "*"
+anyhow = { version = "1", features = ["backtrace"] }

examples/advanced_logging/package.xml

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+<?xml version="1.0"?>
+<?xml-model
+   href="http://download.ros.org/schema/package_format3.xsd"
+   schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>examples_rclrs_advanced_logging</name>
+  <version>0.1.0</version>
+  <description>Package containing an advanced example of the logging mechanism in rclrs.</description>
+  <maintainer email="[email protected]">Antoine Van Malleghem</maintainer>
+  <license>Apache License 2.0</license>
+
+  <depend>rclrs</depend>
+  <depend>rosidl_runtime_rs</depend>
+  <depend>std_msgs</depend>
+
+  <export>
+    <build_type>ament_cargo</build_type>
+  </export>
+</package>

examples/advanced_logging/src/main.rs

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+use anyhow::{Error, Result};
+use rclrs::*;
+use std::time::Duration;
+
+fn main() -> Result<(), Error> {
+    let context = Context::default_from_env()?;
+    let executor = context.create_basic_executor();
+
+    let node = executor.create_node("advanced_logger")?;
+
+    let publisher = node.create_publisher::<std_msgs::msg::String>("topic", QOS_PROFILE_DEFAULT)?;
+
+    let mut message = std_msgs::msg::String::default();
+
+    let mut publish_count: u32 = 1;
+
+    while context.ok() {
+        message.data = format!("Hello, world! {}", publish_count);
+        // log_fatal!(&node.name(), "Simple message from {}", node.name());
+        log!(
+            node.info().skip_first(),
+            "Publish every message but the first one: [{}]",
+            message.data
+        );
+        log!(
+            node.warn().throttle(Duration::from_millis(3000)),
+            "Publish with 3s throttling: [{}]",
+            message.data
+        );
+        log!(
+            node.error().only_if(publish_count % 10 == 0),
+            "Publishing every 10 messages: [{}]",
+            message.data
+        );
+        publisher.publish(&message)?;
+        publish_count += 1;
+        std::thread::sleep(std::time::Duration::from_millis(500));
+    }
+    Ok(())
+}