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Use node logging in moveit_ros #2482

Merged
merged 2 commits into from
Oct 27, 2023
Merged

Use node logging in moveit_ros #2482

merged 2 commits into from
Oct 27, 2023

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tylerjw
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@tylerjw tylerjw commented Oct 24, 2023

Description

I updated the logger util library with some changes

I removed the assigning into the return of a function. It looks weird and I replaced it with a set_logger function.

I added more static state so if get_logger is called before set_logger it will still work as it will create a moveit node. There might be a better way to do this. I did this so child loggers created without creating the base node would work. I added a test for the child logger without first assigning the node logger.

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codecov bot commented Oct 24, 2023

Codecov Report

Attention: 162 lines in your changes are missing coverage. Please review.

Comparison is base (63e0c3a) 50.29% compared to head (b0f90f5) 50.31%.

❗ Current head b0f90f5 differs from pull request most recent head c5ee609. Consider uploading reports for the commit c5ee609 to get more accurate results

Additional details and impacted files
@@            Coverage Diff             @@
##             main    #2482      +/-   ##
==========================================
+ Coverage   50.29%   50.31%   +0.02%     
==========================================
  Files         391      391              
  Lines       31954    31982      +28     
==========================================
+ Hits        16069    16087      +18     
- Misses      15885    15895      +10     
Files Coverage Δ
moveit_core/utils/src/logger.cpp 100.00% <100.00%> (ø)
...veit/occupancy_map_monitor/occupancy_map_monitor.h 33.34% <ø> (ø)
.../collision_plugin_loader/collision_plugin_loader.h 100.00% <ø> (ø)
...inematics_plugin_loader/kinematics_plugin_loader.h 100.00% <100.00%> (ø)
...eit/planning_scene_monitor/current_state_monitor.h 100.00% <ø> (ø)
...it/planning_scene_monitor/planning_scene_monitor.h 28.58% <ø> (ø)
...moveit/planning_scene_monitor/trajectory_monitor.h 75.00% <ø> (ø)
.../rdf_loader/include/moveit/rdf_loader/rdf_loader.h 100.00% <ø> (ø)
...ude/moveit/robot_model_loader/robot_model_loader.h 100.00% <ø> (ø)
...clude/moveit/robot_interaction/robot_interaction.h 0.00% <ø> (ø)
... and 18 more

... and 2 files with indirect coverage changes

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@tylerjw tylerjw marked this pull request as ready for review October 25, 2023 18:31
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tylerjw commented Oct 25, 2023

#2376

@tylerjw tylerjw force-pushed the node_logging branch 2 times, most recently from 8e215d8 to 4651a52 Compare October 25, 2023 20:37
@tylerjw tylerjw force-pushed the node_logging branch 3 times, most recently from 7ff165e to 1b3860a Compare October 27, 2023 16:16
@moveit moveit deleted a comment from mergify bot Oct 27, 2023
Signed-off-by: Tyler Weaver <maybe@tylerjw.dev>
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Very clean refactoring. The changes are much less intrusive than I thought. Please update https://github.com/ros-planning/moveit2/blob/main/doc/MIGRATION_GUIDE.md before merging.

@tylerjw tylerjw enabled auto-merge (squash) October 27, 2023 17:42
@tylerjw tylerjw merged commit 73f4551 into moveit:main Oct 27, 2023
9 of 10 checks passed
@tylerjw tylerjw deleted the node_logging branch October 27, 2023 18:37
peterdavidfagan pushed a commit to peterdavidfagan/moveit2 that referenced this pull request Oct 30, 2023
tylerjw added a commit that referenced this pull request Nov 9, 2023
@tylerjw tylerjw mentioned this pull request Nov 9, 2023
moriarty added a commit to moriarty/moveit2 that referenced this pull request Nov 15, 2023
- This should fix moveit#2516
- Several moveit2 packages already depend on rsl
- PR moveit#2482 added a depend in moveit_core

This is only broken when building all of moveit2 deps in one colcon workspace
And not using rosdep because colcon uses the package.xml and rsl might not have been built

Signed-off-by: Alex Moriarty <alex.moriarty@picknik.ai>
@moriarty moriarty mentioned this pull request Nov 15, 2023
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sjahr pushed a commit that referenced this pull request Nov 15, 2023
- This should fix #2516
- Several moveit2 packages already depend on rsl
- PR #2482 added a depend in moveit_core

This is only broken when building all of moveit2 deps in one colcon workspace
And not using rosdep because colcon uses the package.xml and rsl might not have been built

Signed-off-by: Alex Moriarty <alex.moriarty@picknik.ai>
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2 participants