rclcpp requires const char * for logging macros

rmf_schedule_visualizer/src/Server.cpp

@@ -69,7 +69,8 @@ Server::Server(uint16_t port,
     rmf_traffic::schedule::Negotiation::Table::ViewerPtr table_view)
     {
       RCLCPP_DEBUG(_visualizer_data_node->get_logger(),
-        "======== conflict callback version: %llu! ==========",
+        std::string("======== conflict callback "
+        "version: %llu! ==========").c_str(),
         conflict_version);
 
       nlohmann::json negotiation_json;
@@ -98,7 +99,8 @@ Server::Server(uint16_t port,
     uint64_t conflict_version, bool resolved)
     {
       RCLCPP_DEBUG(_visualizer_data_node->get_logger(),
-        "======== conflict concluded: %llu resolved: %d ==========",
+        std::string("======== conflict concluded: "
+        "%llu resolved: %d ==========").c_str(),
         conflict_version, resolved ? 1 : 0);
 
       nlohmann::json json_msg;
@@ -118,15 +120,15 @@ void Server::on_open(connection_hdl hdl)
 {
   _connections.insert(hdl);
   RCLCPP_INFO(_visualizer_data_node->get_logger(),
-    "Connected with a client");
+    std::string("Connected with a client").c_str());
 }
 
 void Server::on_close(connection_hdl hdl)
 {
   _connections.erase(hdl);
   _negotiation_subscribed_connections.erase(hdl);
   RCLCPP_INFO(_visualizer_data_node->get_logger(),
-    "Disconnected with a client");
+    std::string("Disconnected with a client").c_str());
 
 }
 
@@ -136,7 +138,8 @@ void Server::on_message(connection_hdl hdl, server::message_ptr msg)
 
   if (msg->get_payload().empty())
   {
-    RCLCPP_INFO(_visualizer_data_node->get_logger(), "Empty request received");
+    RCLCPP_INFO(_visualizer_data_node->get_logger(),
+      std::string("Empty request received").c_str());
     return;
   }
 
@@ -145,15 +148,15 @@ void Server::on_message(connection_hdl hdl, server::message_ptr msg)
   if (ok)
   {
     RCLCPP_DEBUG(_visualizer_data_node->get_logger(),
-      "Response: %s", response.c_str());
+      std::string("Response: %s").c_str(), response.c_str());
     server::message_ptr response_msg = std::move(msg);
     response_msg->set_payload(response);
     _server.send(hdl, response_msg);
   }
   else
   {
     RCLCPP_INFO(_visualizer_data_node->get_logger(),
-      "Invalid request received");
+      std::string("Invalid request received").c_str());
   }
 
 }
@@ -198,7 +201,8 @@ bool Server::parse_request(connection_hdl hdl, server::message_ptr msg,
         duration;
 
       RCLCPP_DEBUG(_visualizer_data_node->get_logger(),
-        "Trajectory Request recived with map_name [%s] and duration [%s]ms",
+        std::string("Trajectory Request recived with map_name "
+        "[%s] and duration [%s]ms").c_str(),
         request_param.map_name.c_str(), std::to_string(duration_num).c_str());
 
       std::lock_guard<std::mutex> lock(_visualizer_data_node->get_mutex());
@@ -237,7 +241,7 @@ bool Server::parse_request(connection_hdl hdl, server::message_ptr msg,
     else if (j["request"] == "negotiation_trajectory")
     {
       RCLCPP_DEBUG(_visualizer_data_node->get_logger(),
-        "Received Negotiation Trajectory request");
+        std::string("Received Negotiation Trajectory request").c_str());
 
       uint64_t conflict_version = j["param"]["conflict_version"];
       std::vector<uint64_t> sequence = j["param"]["sequence"];
@@ -268,7 +272,8 @@ bool Server::parse_request(connection_hdl hdl, server::message_ptr msg,
   catch (const std::exception& e)
   {
     RCLCPP_ERROR(_visualizer_data_node->get_logger(),
-      "Error: %s", std::to_string(*e.what()).c_str());
+      std::string("Error: %s").c_str(),
+      std::to_string(*e.what()).c_str());
     return false;
   }
 
@@ -369,7 +374,8 @@ std::string Server::parse_trajectories(
   catch (const std::exception& e)
   {
     RCLCPP_ERROR(_visualizer_data_node->get_logger(),
-      "Error: %s", std::to_string(*e.what()).c_str());
+      std::string("Error: %s").c_str(),
+      std::to_string(*e.what()).c_str());
     return "";
   }
 

rmf_schedule_visualizer/src/VisualizerData.cpp

@@ -57,8 +57,9 @@ std::shared_ptr<VisualizerDataNode> VisualizerDataNode::make(
 
   RCLCPP_ERROR(
     visualizer_data->get_logger(),
-    "Mirror was not initialized in enough time ["
-    + std::to_string(rmf_traffic::time::to_seconds(wait_time)) + "s]!");
+    std::string("Mirror was not initialized in enough time ["
+    + std::to_string(rmf_traffic::time::to_seconds(wait_time))
+    + "s]!").c_str());
   return nullptr;
 }
 
@@ -116,21 +117,23 @@ void VisualizerDataNode::debug_cb(std_msgs::msg::String::UniquePtr msg)
     // along with details of trajectories in the schedule
     try
     {
-      RCLCPP_INFO(get_logger(), "Mirror Version: [%d]",
+      RCLCPP_INFO(get_logger(), std::string("Mirror Version: [%d]").c_str(),
         data->mirror.viewer().latest_version());
       // Query since database was created
       auto view = data->mirror.viewer().query(
         rmf_traffic::schedule::query_all());
       if (view.size() == 0)
-        RCLCPP_INFO(this->get_logger(), "Schedule is empty");
+        RCLCPP_INFO(this->get_logger(),
+          std::string("Schedule is empty").c_str());
 
       else
       {
         for (const auto& element : view)
         {
           auto t = element.route.trajectory();
           RCLCPP_INFO(
-            get_logger(), "Trajectory id: [%d]\nTrajectory size: [%d]",
+            get_logger(),
+            std::string("Trajectory id: [%d]\nTrajectory size: [%d]").c_str(),
             element.route_id, t.size());
           int count = 0;
           for (auto it = t.begin(); it != t.end(); it++)
@@ -139,7 +142,8 @@ void VisualizerDataNode::debug_cb(std_msgs::msg::String::UniquePtr msg)
             auto finish_time = it->time();
             auto finish_position = it->position();
             RCLCPP_INFO(get_logger(),
-              "waypoint: [%d]\ntime: [%s]\nposiiton:[%d, %d, %d]",
+              std::string("waypoint: [%d]\ntime: i "
+              "[%s]\nposiiton:[%d, %d, %d]").c_str(),
               count,
               std::to_string(finish_time.time_since_epoch().count()).c_str(),
               finish_position[0], finish_position[1], finish_position[2]);
@@ -149,7 +153,7 @@ void VisualizerDataNode::debug_cb(std_msgs::msg::String::UniquePtr msg)
     }
     catch (std::exception& e)
     {
-      RCLCPP_ERROR(this->get_logger(), e.what());
+      RCLCPP_ERROR(this->get_logger(), std::to_string(*e.what()).c_str());
     }
   }
 }
@@ -234,7 +238,8 @@ std::vector<Element> VisualizerDataNode::get_negotiation_trajectories(
   if (!table_view)
   {
     RCLCPP_WARN(
-      this->get_logger(), "table_view for conflict %d not found!",
+      this->get_logger(),
+      std::string("table_view for conflict %d not found!").c_str(),
       conflict_version);
     return trajectory_elements;
   }

rmf_schedule_visualizer/src/main.cpp

@@ -85,7 +85,8 @@ int main(int argc, char* argv[])
 
   RCLCPP_INFO(
     visualizer_data_node->get_logger(),
-    "VisualizerDataNode /" + node_name + " started...");
+    std::string("VisualizerDataNode /" + node_name
+    + " started...").c_str());
 
   const auto server_ptr = rmf_schedule_visualizer::Server::make(port,
       visualizer_data_node);
@@ -98,13 +99,14 @@ int main(int argc, char* argv[])
 
   RCLCPP_INFO(
     visualizer_data_node->get_logger(),
-    "Websocket server started on port: " + std::to_string(port));
+    std::string("Websocket server started on port: "
+    + std::to_string(port)).c_str());
 
   rclcpp::spin(visualizer_data_node);
 
   RCLCPP_INFO(
     visualizer_data_node->get_logger(),
-    "Closing down");
+    std::string("Closing down").c_str());
 
   rclcpp::shutdown();
 }

rmf_schedule_visualizer/src/main_rviz.cpp

@@ -137,7 +137,8 @@ class RvizNode : public rclcpp::Node
           _rviz_param.start_duration =
           std::chrono::seconds(msg->start_duration);
         }
-        RCLCPP_INFO(this->get_logger(), "Rviz parameters updated");
+        RCLCPP_INFO(this->get_logger(),
+        std::string("Rviz parameters updated").c_str());
       },
       sub_param_opt);
 
@@ -153,9 +154,9 @@ class RvizNode : public rclcpp::Node
       [&](BuildingMap::SharedPtr msg)
       {
         std::lock_guard<std::mutex> guard(_visualizer_data_node->get_mutex());
-        RCLCPP_INFO(this->get_logger(), "Received map \""
+        RCLCPP_INFO(this->get_logger(), std::string("Received map \""
         + msg->name + "\" containing "
-        + std::to_string(msg->levels.size()) + " level(s)");
+        + std::to_string(msg->levels.size()) + " level(s)").c_str());
         // Cache building map message
         _map_msg = *msg;
         update_level_cache();
@@ -237,8 +238,8 @@ class RvizNode : public rclcpp::Node
     if (!marker_array.markers.empty())
     {
       RCLCPP_DEBUG(this->get_logger(),
-        "Publishing marker array of size: " +
-        std::to_string(marker_array.markers.size()));
+        std::string("Publishing marker array of size: " +
+        std::to_string(marker_array.markers.size())).c_str());
       _schedule_markers_pub->publish(marker_array);
     }
   }
@@ -710,7 +711,8 @@ class RvizNode : public rclcpp::Node
         {
           _has_level = true;
           _level = level;
-          RCLCPP_INFO(this->get_logger(), "Level cache updated");
+          RCLCPP_INFO(this->get_logger(),
+            std::string("Level cache updated").c_str());
           publish_map_markers();
           publish_floorplan();
           break;
@@ -719,7 +721,8 @@ class RvizNode : public rclcpp::Node
 
       if (!_has_level)
       {
-        RCLCPP_INFO(this->get_logger(), "Level cache not updated");
+        RCLCPP_INFO(this->get_logger(),
+          std::string("Level cache not updated").c_str());
       }
     }
   }
@@ -731,8 +734,8 @@ class RvizNode : public rclcpp::Node
 
     auto floorplan_img = _level.images[0]; // only use the first img
     RCLCPP_INFO(this->get_logger(),
-      "Loading floorplan Image: " + floorplan_img.name +
-      floorplan_img.encoding);
+      std::string("Loading floorplan Image: " + floorplan_img.name +
+      floorplan_img.encoding).c_str());
     cv::Mat img =
       cv::imdecode(cv::Mat(floorplan_img.data), cv::IMREAD_GRAYSCALE);
 
@@ -855,7 +858,7 @@ int main(int argc, char* argv[])
 
   RCLCPP_INFO(
     visualizer_data_node->get_logger(),
-    "VisualizerDataNode /" + node_name + " started...");
+    std::string("VisualizerDataNode /" + node_name + " started...").c_str());
 
   auto rviz_node = std::make_shared<RvizNode>(
     "rviz_node",
@@ -873,7 +876,7 @@ int main(int argc, char* argv[])
   executor.spin();
   RCLCPP_INFO(
     visualizer_data_node->get_logger(),
-    "Closing down");
+    std::string("Closing down").c_str());
 
   rclcpp::shutdown();
 }

rviz2_plugin/src/DoorPanel.cpp

@@ -318,7 +318,7 @@ void DoorPanel::door_state_callback(DoorState::UniquePtr msg)
   {
     std::string debug_str =
       "New door [" + incoming_door_name  + "] found, refreshing...";
-    RCLCPP_INFO(_node->get_logger(), debug_str);
+    RCLCPP_INFO(_node->get_logger(), debug_str.c_str());
     _debug_label->setText(QString::fromStdString(debug_str));
     Q_EMIT configChanged();
   }

rviz2_plugin/src/LiftPanel.cpp

@@ -358,7 +358,7 @@ void LiftPanel::lift_state_callback(LiftState::UniquePtr msg)
   {
     std::string debug_str =
       "New lift [" + incoming_lift_name  + "] found, refreshing...";
-    RCLCPP_INFO(_node->get_logger(), debug_str);
+    RCLCPP_INFO(_node->get_logger(), debug_str.c_str());
     _debug_label->setText(QString::fromStdString(debug_str));
     Q_EMIT configChanged();
   }