Add verb for setting a node's log level

ros2node/ros2node/api/__init__.py

@@ -16,10 +16,15 @@
 from typing import Any
 from typing import List
 
+import rclpy
+
 from rclpy.node import HIDDEN_NODE_PREFIX
 from ros2cli.helpers import wait_for
 from ros2cli.node.strategy import NodeStrategy
 
+from rcl_interfaces.msg import LoggerLevel
+from rcl_interfaces.srv import SetLoggerLevels
+
 INFO_NONUNIQUE_WARNING_TEMPLATE = (
     'There are {num_nodes} nodes in the graph with the exact name "{node_name}". '
     'You are seeing information about only one of them.'
@@ -28,6 +33,14 @@
 NodeName = namedtuple('NodeName', ('name', 'namespace', 'full_name'))
 TopicInfo = namedtuple('Topic', ('name', 'types'))
 
+LEVEL_STR_TO_ENUM = {
+    'DEBUG': LoggerLevel.LOG_LEVEL_DEBUG,
+    'INFO': LoggerLevel.LOG_LEVEL_INFO,
+    'WARN': LoggerLevel.LOG_LEVEL_WARN,
+    'ERROR': LoggerLevel.LOG_LEVEL_ERROR,
+    'FATAL': LoggerLevel.LOG_LEVEL_FATAL,
+}
+
 
 def _is_hidden_name(name):
     # note, we're assuming the hidden node prefix is the same for other hidden names
@@ -145,6 +158,45 @@ def get_action_client_info(*, node, remote_node_name, include_hidden=False):
         for n, t in names_and_types if include_hidden or not _is_hidden_name(n)]
 
 
+def call_log_level_set(node, node_name, level):
+    """
+    Set the log level of the specified node using the SetLoggerLevels ROS service.
+    :param node: The rclpy node to use as the client
+    :param node_name: The full name of the target node
+    :param level: The log level as a string (e.g., 'DEBUG', 'INFO', 'WARN', 'ERROR', 'FATAL')
+    """
+
+    # Prepare the service name for the target node
+    service_name = f'{node_name}/set_logger_levels'
+    client = node.create_client(SetLoggerLevels, service_name)
+
+    if not client.service_is_ready():
+        raise RuntimeError(f'Service {service_name} not ready')
+
+    # Prepare the request
+    level_value = LEVEL_STR_TO_ENUM.get(level.upper(), None)
+    if level_value is None:
+        raise ValueError(
+            f'Invalid log level "{level}". Valid levels are: {", ".join(LEVEL_STR_TO_ENUM.keys())}')
+
+    request = SetLoggerLevels.Request()
+    logger_level = LoggerLevel()
+    logger_level.name = node_name
+    logger_level.level = level_value
+    request.levels = [logger_level]
+
+    # Call the service
+    future = client.call_async(request)
+    rclpy.spin_until_future_complete(node, future)
+    if future.result() is not None:
+        res = future.result()
+        if not all([r.successful for r in res.results]):
+            raise RuntimeError(
+                f'Failed to set log level for node "{node_name}": {res.results}')
+    else:
+        raise RuntimeError(f'Failed to set log level: {future.exception()}')
+
+
 class NodeNameCompleter:
     """Callable returning a list of node names."""
 

ros2node/ros2node/verb/log.py

@@ -0,0 +1,34 @@
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2cli.node.strategy import add_arguments
+
+from ros2node.verb import VerbExtension
+from ros2node.api import call_log_level_set, LEVEL_STR_TO_ENUM
+from ros2cli.node.direct import DirectNode
+
+
+class LogVerb(VerbExtension):
+    """Set the log level of a node"""
+    def add_arguments(self, parser, cli_name):
+        add_arguments(parser)
+
+        parser.add_argument('node_name', help='The name of the node')
+        parser.add_argument('-l', '--logger-name', help='The logger name, if it is different from the node name')
+        parser.add_argument('level', choices=LEVEL_STR_TO_ENUM.keys(), help='Log level')
+
+    def main(self, *, args):
+        with DirectNode(args) as node:
+            if args.logger_name is None:
+                args.logger_name = args.node_name.lstrip('/')
+            # Call the service to set the log level
+            call_log_level_set(node, args.logger_name, args.level)

ros2node/setup.py

@@ -43,6 +43,7 @@
         'ros2node.verb': [
             'info = ros2node.verb.info:InfoVerb',
             'list = ros2node.verb.list:ListVerb',
+            'log  = ros2node.verb.log:LogVerb',
         ],
     }
 )