From 75d6769ef9951f962d491a912962caa612966beb Mon Sep 17 00:00:00 2001 From: 23-yoshikawa Date: Wed, 14 Aug 2024 18:05:28 +0900 Subject: [PATCH] fix --- app/imshow/launch/imshow_launch.py | 1 + app/power_map/launch/power_map_launch.py | 1 + app/simple_joy_app/launch/app_launch.py | 1 + .../camera_reader/launch/camera_reader_launch.py | 11 ++++++++++- device/joystick/launch/joystick_launch.py | 1 + device/nucleo_communicate/launch/channel_launch.py | 1 + .../nucleo_communicate_py/launch/channel_launch.py | 1 + .../launch/receiver_launch.py | 1 + .../nucleo_communicate_py/launch/sender_launch.py | 1 + device/pi_i2c/launch/all_launch.py | 1 + device/pi_i2c/launch/depth_launch.py | 1 + device/pi_i2c/launch/imu_launch.py | 1 + device/pi_led/launch/led_launch.py | 13 ++++++++++++- ul/launch/simple_joy_app_pc.py | 14 +++++++++++--- 14 files changed, 44 insertions(+), 5 deletions(-) diff --git a/app/imshow/launch/imshow_launch.py b/app/imshow/launch/imshow_launch.py index 61f97d9..701dab8 100644 --- a/app/imshow/launch/imshow_launch.py +++ b/app/imshow/launch/imshow_launch.py @@ -20,6 +20,7 @@ def generate_launch_description() -> LaunchDescription: "log_level", default_value="info", choices=["debug", "info", "warn", "error", "fatal"], + description="Logging level for the nodes", ) index = LaunchConfiguration("index") log_level = LaunchConfiguration("log_level") diff --git a/app/power_map/launch/power_map_launch.py b/app/power_map/launch/power_map_launch.py index 181fa7a..cc9993a 100644 --- a/app/power_map/launch/power_map_launch.py +++ b/app/power_map/launch/power_map_launch.py @@ -14,6 +14,7 @@ def generate_launch_description(): "log_level", default_value="info", choices=["debug", "info", "warn", "error", "fatal"], + description="Logging level for the nodes", ) log_level = LaunchConfiguration("log_level") power_map = Node( diff --git a/app/simple_joy_app/launch/app_launch.py b/app/simple_joy_app/launch/app_launch.py index 6622bb4..46b8596 100644 --- a/app/simple_joy_app/launch/app_launch.py +++ b/app/simple_joy_app/launch/app_launch.py @@ -9,6 +9,7 @@ def generate_launch_description(): "log_level", default_value="info", choices=["debug", "info", "warn", "error", "fatal"], + description="Logging level for the nodes", ) log_level = LaunchConfiguration("log_level") app = Node( diff --git a/device/camera_reader/launch/camera_reader_launch.py b/device/camera_reader/launch/camera_reader_launch.py index e6d0f50..e06005b 100644 --- a/device/camera_reader/launch/camera_reader_launch.py +++ b/device/camera_reader/launch/camera_reader_launch.py @@ -21,6 +21,13 @@ def camera_node(**kwargs: Any) -> Node: def generate_launch_description() -> LaunchDescription: index_arg = DeclareLaunchArgument("index", default_value="-1") + log_level_arg = DeclareLaunchArgument( + "log_level", + default_value="info", + choices=["debug", "info", "warn", "error", "fatal"], + description="Logging level for the nodes", + ) + log_level = LaunchConfiguration("log_level") index = LaunchConfiguration("index") index_specified = PythonExpression([index, ">= 0"]) default_config_path = PathJoinSubstitution( @@ -30,13 +37,15 @@ def generate_launch_description() -> LaunchDescription: name=["camera_", index], parameters=[{"camera_id": index}], remappings=[("/device/camera_image", ["/packet/camera_image_", index])], + ros_arguments=["--log-level", log_level], condition=IfCondition(index_specified), ) unuse_index = camera_node( parameters=[default_config_path], remappings=[("/device/camera_image", "/packet/camera_image")], + ros_arguments=["--log-level", log_level], condition=UnlessCondition(index_specified), ) return LaunchDescription( - [index_arg, use_index, unuse_index], + [index_arg, log_level_arg,use_index, unuse_index], ) diff --git a/device/joystick/launch/joystick_launch.py b/device/joystick/launch/joystick_launch.py index 42c9d6a..8f7579c 100644 --- a/device/joystick/launch/joystick_launch.py +++ b/device/joystick/launch/joystick_launch.py @@ -18,6 +18,7 @@ def generate_launch_description() -> LaunchDescription: "log_level", default_value="info", choices=["debug", "info", "warn", "error", "fatal"], + description="Logging level for the nodes", ) log_level = LaunchConfiguration("log_level") diff --git a/device/nucleo_communicate/launch/channel_launch.py b/device/nucleo_communicate/launch/channel_launch.py index 08f1aa7..2d2d39a 100644 --- a/device/nucleo_communicate/launch/channel_launch.py +++ b/device/nucleo_communicate/launch/channel_launch.py @@ -9,6 +9,7 @@ def generate_launch_description(): "log_level", default_value="info", choices=["debug", "info", "warn", "error", "fatal"], + description="Logging level for the nodes", ) log_level = LaunchConfiguration("log_level") channel = Node( diff --git a/device/nucleo_communicate_py/launch/channel_launch.py b/device/nucleo_communicate_py/launch/channel_launch.py index 6e9e38e..cee3c96 100644 --- a/device/nucleo_communicate_py/launch/channel_launch.py +++ b/device/nucleo_communicate_py/launch/channel_launch.py @@ -9,6 +9,7 @@ def generate_launch_description() -> LaunchDescription: "log_level", default_value="info", choices=["debug", "info", "warn", "error", "fatal"], + description="Logging level for the nodes", ) log_level = LaunchConfiguration("log_level") main = Node( diff --git a/device/nucleo_communicate_py/launch/receiver_launch.py b/device/nucleo_communicate_py/launch/receiver_launch.py index 9b437cd..2704285 100644 --- a/device/nucleo_communicate_py/launch/receiver_launch.py +++ b/device/nucleo_communicate_py/launch/receiver_launch.py @@ -9,6 +9,7 @@ def generate_launch_description() -> LaunchDescription: "log_level", default_value="info", choices=["debug", "info", "warn", "error", "fatal"], + description="Logging level for the nodes", ) log_level = LaunchConfiguration("log_level") receiver = Node( diff --git a/device/nucleo_communicate_py/launch/sender_launch.py b/device/nucleo_communicate_py/launch/sender_launch.py index 2aeb999..a1951a4 100644 --- a/device/nucleo_communicate_py/launch/sender_launch.py +++ b/device/nucleo_communicate_py/launch/sender_launch.py @@ -9,6 +9,7 @@ def generate_launch_description() -> LaunchDescription: "log_level", default_value="info", choices=["debug", "info", "warn", "error", "fatal"], + description="Logging level for the nodes", ) log_level = LaunchConfiguration("log_level") sender = Node( diff --git a/device/pi_i2c/launch/all_launch.py b/device/pi_i2c/launch/all_launch.py index 717b0e0..0d7878f 100644 --- a/device/pi_i2c/launch/all_launch.py +++ b/device/pi_i2c/launch/all_launch.py @@ -9,6 +9,7 @@ def generate_launch_description() -> LaunchDescription: "log_level", default_value="info", choices=["debug", "info", "warn", "error", "fatal"], + description="Logging level for the nodes", ) log_level = LaunchConfiguration("log_level") all_exec = Node( diff --git a/device/pi_i2c/launch/depth_launch.py b/device/pi_i2c/launch/depth_launch.py index b234345..68b83a9 100644 --- a/device/pi_i2c/launch/depth_launch.py +++ b/device/pi_i2c/launch/depth_launch.py @@ -9,6 +9,7 @@ def generate_launch_description() -> LaunchDescription: "log_level", default_value="info", choices=["debug", "info", "warn", "error", "fatal"], + description="Logging level for the nodes", ) log_level = LaunchConfiguration("log_level") depth = Node( diff --git a/device/pi_i2c/launch/imu_launch.py b/device/pi_i2c/launch/imu_launch.py index 7a84010..3ad8942 100644 --- a/device/pi_i2c/launch/imu_launch.py +++ b/device/pi_i2c/launch/imu_launch.py @@ -9,6 +9,7 @@ def generate_launch_description() -> LaunchDescription: "log_level", default_value="info", choices=["debug", "info", "warn", "error", "fatal"], + description="Logging level for the nodes", ) log_level = LaunchConfiguration("log_level") imu = Node( diff --git a/device/pi_led/launch/led_launch.py b/device/pi_led/launch/led_launch.py index 3a15820..6afdc5e 100644 --- a/device/pi_led/launch/led_launch.py +++ b/device/pi_led/launch/led_launch.py @@ -20,6 +20,12 @@ def led_node(**kwargs: Any) -> Node: def generate_launch_description() -> LaunchDescription: + log_level_arg = DeclareLaunchArgument( + "log_level", + default_valye="info", + description="Logging level for the nodes", + ) + log_level = LaunchConfiguration("log-level") # arguments variant_arg = DeclareLaunchArgument( "variant", @@ -44,27 +50,32 @@ def generate_launch_description() -> LaunchDescription: use_default = led_node( parameters=[right_param_file], remappings=[("/device/led_color", "/packet/order/led_color")], + ros_arguments=["--log-level", log_level], condition=IfCondition(variant_is_default), ) use_right = led_node( name="led_right", parameters=[right_param_file], remappings=[("/device/led_color", "/packet/order/led_color_right")], + ros_arguments=["--log-level", log_level], condition=IfCondition(variant_is_right), ) use_left = led_node( name="led_left", parameters=[left_param_file], remappings=[("/device/led_color", "/packet/order/led_color_left")], + ros_arguments=["--log-level", log_level], condition=IfCondition(variant_is_left), ) use_custom = led_node( name="led_custom", parameters=[param_file], remappings=[("/device/led_color", "/packet/order/led_color_custom")], + ros_arguments=["--log-level", log_level], condition=IfCondition(variant_is_custom), ) return LaunchDescription( - [variant_arg, param_file_arg, use_default, use_right, use_left, use_custom] + [log_level_arg,variant_arg, param_file_arg, use_default, use_right, + use_left, use_custom] ) diff --git a/ul/launch/simple_joy_app_pc.py b/ul/launch/simple_joy_app_pc.py index 1123c5b..3c0e914 100644 --- a/ul/launch/simple_joy_app_pc.py +++ b/ul/launch/simple_joy_app_pc.py @@ -6,6 +6,12 @@ def generate_launch_description() -> LaunchDescription: + log_level_arg = DeclareLaunchArgument( + "log_level", + default_value="info", + description="Logging level for the nodes", + ) + log_level = LaunchConfiguration("log-level") power_map_param_file_arg = DeclareLaunchArgument( "power_map_param_file", default_value=PathJoinSubstitution( @@ -18,14 +24,16 @@ def generate_launch_description() -> LaunchDescription: PathJoinSubstitution( [FindPackageShare("joystick"), "launch", "joystick_launch.py"] ) - ) + ), + launch_arguments=[("log-level", log_level)], ) app = IncludeLaunchDescription( PythonLaunchDescriptionSource( PathJoinSubstitution( [FindPackageShare("simple_joy_app"), "launch", "app_launch.py"] ) - ) + ), + launch_arguments=[("log-level", log_level)], ) power_map = IncludeLaunchDescription( PythonLaunchDescriptionSource( @@ -40,4 +48,4 @@ def generate_launch_description() -> LaunchDescription: forwarding=False, launch_configurations={"param_file": power_map_param_file}, ) - return LaunchDescription([power_map_param_file_arg, nodes]) + return LaunchDescription([log_level_arg,power_map_param_file_arg, nodes])