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Use proper hardware component logger for async components #2860

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Merged
merged 2 commits into from
Nov 25, 2025
Merged

Use proper hardware component logger for async components #2860

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4e317fc
Use proper hardware component logger for async components
saikishor Nov 25, 2025
63646c0
update the logic
saikishor Nov 25, 2025
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6 changes: 2 additions & 4 deletions hardware_interface/include/hardware_interface/hardware_component_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,9 +108,7 @@ class HardwareComponentInterface : public rclcpp_lifecycle::node_interfaces::Lif
CallbackReturn init(const hardware_interface::HardwareComponentParams & params)
{
clock_ = params.clock;
auto logger_copy = params.logger;
logger_ = logger_copy.get_child(
"hardware_component." + params.hardware_info.type + "." + params.hardware_info.name);
logger_ = params.logger;
info_ = params.hardware_info;
if (params.hardware_info.is_async)
{
Expand All @@ -120,7 +118,7 @@ class HardwareComponentInterface : public rclcpp_lifecycle::node_interfaces::Lif
realtime_tools::AsyncSchedulingPolicy(info_.async_params.scheduling_policy);
async_thread_params.cpu_affinity_cores = info_.async_params.cpu_affinity_cores;
async_thread_params.clock = params.clock;
async_thread_params.logger = params.logger;
async_thread_params.logger = get_logger();
async_thread_params.exec_rate = params.hardware_info.rw_rate;
async_thread_params.print_warnings = info_.async_params.print_warnings;
RCLCPP_INFO(
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4 changes: 3 additions & 1 deletion hardware_interface/src/resource_manager.cpp
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Expand Up @@ -250,7 +250,9 @@ class ResourceStorage
hardware_interface::HardwareComponentParams component_params;
component_params.hardware_info = params.hardware_info;
component_params.clock = rm_clock_;
component_params.logger = rm_logger_;
component_params.logger = rm_logger_.get_child(
fmt::format(
"hardware_component.{}.{}", params.hardware_info.type, params.hardware_info.name));
component_params.executor = params.executor;
component_params.node_namespace = params.node_namespace;
RCLCPP_INFO(
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