Replace RCUTILS_ with RCLCPP_ for logging (ros-controls#62)

README.md

@@ -122,6 +122,9 @@ int main()
 {
   // do all the init stuff
 
+  // Logger
+  const rclcpp::Logger logger = rclcpp::get_logger("my_robot_logger");
+
   // create my_robot instance
   auto my_robot = std::make_shared<MyRobot>();
 
@@ -156,12 +159,12 @@ int main()
   // we can either configure each controller individually through its services
   // or we use the controller manager to configure every loaded controller
   if (cm.configure() != controller_interface::CONTROLLER_INTERFACE_RET_SUCCESS) {
-    RCUTILS_LOG_ERROR("at least one controller failed to configure")
+    RCLCPP_ERROR(logger, "at least one controller failed to configure")
     return -1;
   }
   // and activate all controller
   if (cm.activate() != controller_interface::CONTROLLER_INTERFACE_RET_SUCCESS) {
-    RCUTILS_LOG_ERROR("at least one controller failed to activate")
+    RCLCPP_ERROR(logger, "at least one controller failed to activate")
     return -1;
   }
 

controller_manager/CMakeLists.txt

@@ -17,7 +17,6 @@ find_package(controller_interface REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(rcpputils REQUIRED)
 
 add_library(controller_manager SHARED src/controller_manager.cpp src/controller_loader_pluginlib.cpp)
 target_include_directories(controller_manager PRIVATE include)
@@ -27,7 +26,6 @@ ament_target_dependencies(controller_manager
   "hardware_interface"
   "pluginlib"
   "rclcpp"
-  "rcpputils"
 )
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.

controller_manager/src/controller_manager.cpp

@@ -24,7 +24,7 @@
 
 #include "lifecycle_msgs/msg/state.hpp"
 
-#include "rcutils/logging_macros.h"
+#include "rclcpp/rclcpp.hpp"
 
 namespace controller_manager
 {
@@ -46,7 +46,7 @@ ControllerManager::load_controller(
   const std::string & controller_name,
   const std::string & controller_type)
 {
-  RCUTILS_LOG_INFO("Loading controller '%s'\n", controller_name.c_str());
+  RCLCPP_INFO(get_logger(), "Loading controller '%s'\n", controller_name.c_str());
 
   auto it = std::find_if(
     loaders_.cbegin(), loaders_.cend(),
@@ -58,7 +58,7 @@ ControllerManager::load_controller(
     controller = (*it)->create(controller_type);
   } else {
     const std::string error_msg("Loader for controller '" + controller_name + "' not found\n");
-    RCUTILS_LOG_ERROR("%s", error_msg.c_str());
+    RCLCPP_ERROR(get_logger(), "%s", error_msg.c_str());
     throw std::runtime_error(error_msg);
   }
 

controller_parameter_server/CMakeLists.txt

@@ -65,6 +65,10 @@ if(BUILD_TESTING)
     test_parameter_server test/test_parameter_server.cpp
     ENV config_file=${test_config_file})
   target_link_libraries(test_parameter_server parameter_server)
+  ament_target_dependencies(
+    test_parameter_server
+    rclcpp
+  )
 endif()
 
 ament_export_include_directories(

controller_parameter_server/test/test_parameter_server.cpp

@@ -87,10 +87,12 @@ TEST_F(TestControllerParameterServer, load_config_file) {
   std::this_thread::sleep_for(1s);
   while (!parameters_client->wait_for_service(1s)) {
     if (!rclcpp::ok()) {
-      RCUTILS_LOG_ERROR("Interrupted while waiting for the service. Exiting.");
+      RCLCPP_ERROR(
+        client_node->get_logger(),
+        "Interrupted while waiting for the service. Exiting.");
       FAIL();
     }
-    RCUTILS_LOG_INFO("service not available, waiting again...");
+    RCLCPP_INFO(client_node->get_logger(), "service not available, waiting again...");
   }
 
   std::vector<std::string> expected_keys =

hardware_interface/CMakeLists.txt

@@ -11,8 +11,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(rcpputils REQUIRED)
-find_package(rcutils REQUIRED)
 
 add_library(
   hardware_interface
@@ -28,8 +28,8 @@ target_include_directories(
   include)
 ament_target_dependencies(
   hardware_interface
+  "rclcpp"
   "rcpputils"
-  "rcutils"
 )
 
 # Causes the visibility macros to use dllexport rather than dllimport,

hardware_interface/package.xml

@@ -9,8 +9,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>rclcpp</depend>
   <depend>rcpputils</depend>
-  <depend>rcutils</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

hardware_interface/src/robot_hardware.cpp

@@ -19,7 +19,7 @@
 #include <vector>
 
 #include "hardware_interface/macros.hpp"
-#include "rcutils/logging_macros.h"
+#include "rclcpp/rclcpp.hpp"
 
 namespace hardware_interface
 {
@@ -80,8 +80,9 @@ RobotHardware::get_joint_state_handle(
   const std::string & name, const JointStateHandle ** joint_state_handle)
 {
   if (name.empty()) {
-    RCUTILS_LOG_ERROR_NAMED(
-      "joint state handle", "cannot get handle! No name given");
+    RCLCPP_ERROR(
+      rclcpp::get_logger("joint state handle"),
+      "cannot get handle! No name given");
     return HW_RET_ERROR;
   }
 
@@ -94,8 +95,9 @@ RobotHardware::get_joint_state_handle(
     });
 
   if (handle_pos == registered_joint_state_handles_.end()) {
-    RCUTILS_LOG_ERROR_NAMED(
-      "joint state handle", "cannot get handle. No joint %s found.\n", name.c_str());
+    RCLCPP_ERROR(
+      rclcpp::get_logger("joint state handle"),
+      "cannot get handle. No joint %s found.\n", name.c_str());
     return HW_RET_ERROR;
   }
 
@@ -108,8 +110,9 @@ RobotHardware::get_joint_command_handle(
   const std::string & name, JointCommandHandle ** joint_command_handle)
 {
   if (name.empty()) {
-    RCUTILS_LOG_ERROR_NAMED(
-      "joint cmd handle", "cannot get handle! No name given");
+    RCLCPP_ERROR(
+      rclcpp::get_logger("joint cmd handle"),
+      "cannot get handle! No name given");
     return HW_RET_ERROR;
   }
 
@@ -122,8 +125,9 @@ RobotHardware::get_joint_command_handle(
     });
 
   if (handle_pos == registered_joint_command_handles_.end()) {
-    RCUTILS_LOG_ERROR_NAMED(
-      "joint cmd handle", "cannot get handle. No joint %s found.\n", name.c_str());
+    RCLCPP_ERROR(
+      rclcpp::get_logger("joint cmd handle"),
+      "cannot get handle. No joint %s found.\n", name.c_str());
     return HW_RET_ERROR;
   }
 
@@ -136,8 +140,9 @@ RobotHardware::get_operation_mode_handle(
   const std::string & name, OperationModeHandle ** operation_mode_handle)
 {
   if (name.empty()) {
-    RCUTILS_LOG_ERROR_NAMED(
-      "joint operation mode handle", "cannot get handle! No name given");
+    RCLCPP_ERROR(
+      rclcpp::get_logger("joint operation mode handle"),
+      "cannot get handle! No name given");
     return HW_RET_ERROR;
   }
 
@@ -150,8 +155,9 @@ RobotHardware::get_operation_mode_handle(
     });
 
   if (handle_pos == registered_operation_mode_handles_.end()) {
-    RCUTILS_LOG_ERROR_NAMED(
-      "joint operation mode handle", "cannot get handle. No joint %s found.\n", name.c_str());
+    RCLCPP_ERROR(
+      rclcpp::get_logger("joint operation mode handle"),
+      "cannot get handle. No joint %s found.\n", name.c_str());
     return HW_RET_ERROR;
   }
 

test_robot_hardware/CMakeLists.txt

@@ -12,14 +12,14 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(hardware_interface REQUIRED)
-find_package(rcutils REQUIRED)
+find_package(rclcpp REQUIRED)
 
 add_library(test_robot_hardware SHARED src/test_robot_hardware.cpp)
 target_include_directories(test_robot_hardware PRIVATE include)
 ament_target_dependencies(
   test_robot_hardware
   hardware_interface
-  rcutils
+  rclcpp
 )
 
 # Causes the visibility macros to use dllexport rather than dllimport,

test_robot_hardware/include/test_robot_hardware/test_robot_hardware.hpp

@@ -20,6 +20,8 @@
 #include "hardware_interface/robot_hardware.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 
+#include "rclcpp/rclcpp.hpp"
+
 #include "test_robot_hardware/visibility_control.h"
 
 namespace test_robot_hardware
@@ -84,6 +86,8 @@ class TestRobotHardware : public hardware_interface::RobotHardware
 
   hardware_interface::OperationModeHandle write_op_handle1;
   hardware_interface::OperationModeHandle write_op_handle2;
+
+  const rclcpp::Logger logger = rclcpp::get_logger("test_robot_hardware");
 };
 
 }  // namespace test_robot_hardware

test_robot_hardware/package.xml

@@ -10,10 +10,10 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>hardware_interface</build_depend>
-  <build_depend>rcutils</build_depend>
+  <build_depend>rclcpp</build_depend>
 
   <exec_depend>hardware_interface</exec_depend>
-  <exec_depend>rcutils</exec_depend>
+  <exec_depend>rclcpp</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

test_robot_hardware/src/test_robot_hardware.cpp

@@ -17,8 +17,6 @@
 #include <string>
 #include <vector>
 
-#include "rcutils/logging_macros.h"
-
 namespace test_robot_hardware
 {
 
@@ -31,44 +29,44 @@ TestRobotHardware::init()
     joint_name1, &pos1, &vel1, &eff1);
   ret = register_joint_state_handle(&js1);
   if (ret != hardware_interface::HW_RET_OK) {
-    RCUTILS_LOG_WARN("can't register joint state handle %s", joint_name1.c_str());
+    RCLCPP_WARN(logger, "can't register joint state handle %s", joint_name1.c_str());
     return ret;
   }
 
   js2 = hardware_interface::JointStateHandle(
     joint_name2, &pos2, &vel2, &eff2);
   ret = register_joint_state_handle(&js2);
   if (ret != hardware_interface::HW_RET_OK) {
-    RCUTILS_LOG_WARN("can't register joint state handle %s", joint_name2.c_str());
+    RCLCPP_WARN(logger, "can't register joint state handle %s", joint_name2.c_str());
     return ret;
   }
 
   js3 = hardware_interface::JointStateHandle(
     joint_name3, &pos3, &vel3, &eff3);
   ret = register_joint_state_handle(&js3);
   if (ret != hardware_interface::HW_RET_OK) {
-    RCUTILS_LOG_WARN("can't register joint state handle %s", joint_name3.c_str());
+    RCLCPP_WARN(logger, "can't register joint state handle %s", joint_name3.c_str());
     return ret;
   }
 
   jcmd1 = hardware_interface::JointCommandHandle(joint_name1, &cmd1);
   ret = register_joint_command_handle(&jcmd1);
   if (ret != hardware_interface::HW_RET_OK) {
-    RCUTILS_LOG_WARN("can't register joint command handle %s", joint_name1.c_str());
+    RCLCPP_WARN(logger, "can't register joint command handle %s", joint_name1.c_str());
     return ret;
   }
 
   jcmd2 = hardware_interface::JointCommandHandle(joint_name2, &cmd2);
   ret = register_joint_command_handle(&jcmd2);
   if (ret != hardware_interface::HW_RET_OK) {
-    RCUTILS_LOG_WARN("can't register joint command handle %s", joint_name2.c_str());
+    RCLCPP_WARN(logger, "can't register joint command handle %s", joint_name2.c_str());
     return ret;
   }
 
   jcmd3 = hardware_interface::JointCommandHandle(joint_name3, &cmd3);
   ret = register_joint_command_handle(&jcmd3);
   if (ret != hardware_interface::HW_RET_OK) {
-    RCUTILS_LOG_WARN("can't register joint command handle %s", joint_name3.c_str());
+    RCLCPP_WARN(logger, "can't register joint command handle %s", joint_name3.c_str());
     return ret;
   }
 
@@ -77,7 +75,7 @@ TestRobotHardware::init()
     reinterpret_cast<hardware_interface::OperationMode *>(&read1));
   ret = register_operation_mode_handle(&read_op_handle1);
   if (ret != hardware_interface::HW_RET_OK) {
-    RCUTILS_LOG_WARN("can't register operation mode handle %s", read_op_handle_name1.c_str());
+    RCLCPP_WARN(logger, "can't register operation mode handle %s", read_op_handle_name1.c_str());
     return ret;
   }
 
@@ -86,7 +84,7 @@ TestRobotHardware::init()
     reinterpret_cast<hardware_interface::OperationMode *>(&read2));
   ret = register_operation_mode_handle(&read_op_handle2);
   if (ret != hardware_interface::HW_RET_OK) {
-    RCUTILS_LOG_WARN("can't register operation mode handle %s", read_op_handle_name2.c_str());
+    RCLCPP_WARN(logger, "can't register operation mode handle %s", read_op_handle_name2.c_str());
     return ret;
   }
 
@@ -95,7 +93,7 @@ TestRobotHardware::init()
     reinterpret_cast<hardware_interface::OperationMode *>(&write1));
   ret = register_operation_mode_handle(&write_op_handle1);
   if (ret != hardware_interface::HW_RET_OK) {
-    RCUTILS_LOG_WARN("can't register operation mode handle %s", write_op_handle_name1.c_str());
+    RCLCPP_WARN(logger, "can't register operation mode handle %s", write_op_handle_name1.c_str());
     return ret;
   }
 
@@ -104,7 +102,7 @@ TestRobotHardware::init()
     reinterpret_cast<hardware_interface::OperationMode *>(&write2));
   ret = register_operation_mode_handle(&write_op_handle2);
   if (ret != hardware_interface::HW_RET_OK) {
-    RCUTILS_LOG_WARN("can't register operation mode handle %s", write_op_handle_name2.c_str());
+    RCLCPP_WARN(logger, "can't register operation mode handle %s", write_op_handle_name2.c_str());
     return ret;
   }