Add log_level

device/joystick/joystick/joystick.py

@@ -12,7 +12,7 @@ def __init__(self):
         super().__init__("joystick")
         self._timer = self.create_timer(0.01, self._timer_callback)
         self._joy_publisher = self.create_publisher(Joy, "joystick", 10)
-        # TODO: ここparameterで変えられるようにしたい
+        # TODO : ここparameterで変えられるようにしたい
         self._joystick = pygame.joystick.Joystick(0)
         # logging
         name = self._joystick.get_name()

device/joystick/launch/joystick_launch.py

@@ -1,15 +1,32 @@
+from typing import Any
+
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
-def generate_launch_description():
-    return LaunchDescription(
-        [
-            Node(
-                package="joystick",
-                executable="joystick",
-                namespace="device",
-                remappings=[("/device/joystick", "/packet/joystick")],
-            ),
-        ],
+def joystick_node(**kwargs: Any) -> Node:
+    kwargs["package"] = "joystick"
+    kwargs["executable"] = "joystick"
+    kwargs["namespace"] = "device"
+    return Node(**kwargs)
+
+
+def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
     )
+    log_level = LaunchConfiguration("log_level")
+
+    joystick = Node(
+        package="joystick",
+        executable="joystick",
+        namespace="device",
+        remappings=[("/device/joystick", "/packet/joystick")],
+        ros_arguments=["--log-level", log_level],
+    )
+
+    return LaunchDescription([log_level_arg, joystick])

device/nucleo_communicate/launch/channel_launch.py

@@ -1,8 +1,16 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+    )
+    log_level = LaunchConfiguration("log_level")
     channel = Node(
         package="nucleo_communicate",
         executable="nucleo-channel",
@@ -15,5 +23,6 @@ def generate_launch_description():
             ("/device/power", "/packet/order/power"),
             ("/device/quit", "/packet/order/quit"),
         ],
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([channel])
+    return LaunchDescription([log_level_arg, channel])

device/nucleo_communicate_py/launch/channel_launch.py

@@ -1,8 +1,16 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+    )
+    log_level = LaunchConfiguration("log_level")
     main = Node(
         package="nucleo_communicate_py",
         executable="channel",
@@ -15,5 +23,6 @@ def generate_launch_description() -> LaunchDescription:
             ("/device/quit", "/packet/order/quit"),
             ("/device/order/power", "/packet/order/power"),
         ],
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([main])
+    return LaunchDescription([log_level_arg, main])

device/nucleo_communicate_py/launch/receiver_launch.py

@@ -1,8 +1,16 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+    )
+    log_level = LaunchConfiguration("log_level")
     receiver = Node(
         package="nucleo_communicate_py",
         executable="receiver",
@@ -13,5 +21,6 @@ def generate_launch_description() -> LaunchDescription:
             ("/device/current", "/packet/sensor/current"),
             ("/device/voltage", "/packet/sensor/voltage"),
         ],
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([receiver])
+    return LaunchDescription([log_level_arg, receiver])

device/nucleo_communicate_py/launch/sender_launch.py

@@ -1,8 +1,16 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+    )
+    log_level = LaunchConfiguration("log_level")
     sender = Node(
         package="nucleo_communicate_py",
         executable="sender",
@@ -11,5 +19,6 @@ def generate_launch_description() -> LaunchDescription:
             ("/device/quit", "/packet/order/quit"),
             ("/device/order/power", "/packet/order/power"),
         ],
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([sender])
+    return LaunchDescription([log_level_arg, sender])

device/pi_i2c/launch/all_launch.py

@@ -1,12 +1,21 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+    )
+    log_level = LaunchConfiguration("log_level")
     all_exec = Node(
         package="pi_i2c",
         executable="all",
         namespace="device",
         remappings=[("/device/imu", "/packet/sensors/imu")],
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([all_exec])
+    return LaunchDescription([log_level_arg, all_exec])

device/pi_i2c/launch/depth_launch.py

@@ -1,11 +1,20 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+    )
+    log_level = LaunchConfiguration("log_level")
     depth = Node(
         package="pi_i2c",
         executable="depth",
         namespace="device",
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([depth])
+    return LaunchDescription([log_level_arg, depth])

device/pi_i2c/launch/imu_launch.py

@@ -1,12 +1,21 @@
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
 def generate_launch_description() -> LaunchDescription:
+    log_level_arg = DeclareLaunchArgument(
+        "log_level",
+        default_value="info",
+        choices=["debug", "info", "warn", "error", "fatal"],
+    )
+    log_level = LaunchConfiguration("log_level")
     imu = Node(
         package="pi_i2c",
         executable="imu",
         namespace="device",
         remappings=[("/device/imu", "/packet/sensors/imu")],
+        ros_arguments=["--log-level", log_level],
     )
-    return LaunchDescription([imu])
+    return LaunchDescription([log_level_arg, imu])

device/pi_led/launch/led_launch.py

@@ -22,7 +22,9 @@ def led_node(**kwargs: Any) -> Node:
 def generate_launch_description() -> LaunchDescription:
     # arguments
     variant_arg = DeclareLaunchArgument(
-        "variant", default_value="default", choices=["default", "right", "left", "custom"]
+        "variant",
+        default_value="default",
+        choices=["default", "right", "left", "custom"],
     )
     param_file_arg = DeclareLaunchArgument("param_file", default_value="")
     # substitutions

ul/launch/double_camera.py

@@ -1,26 +1,33 @@
 from launch import LaunchDescription
-from launch.actions import GroupAction, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import PathJoinSubstitution
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description() -> LaunchDescription:
+    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")
     camera0 = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [FindPackageShare("camera_reader"), "launch", "camera_reader_launch.py"]
             )
         ),
-        launch_arguments=[("index", "0")],
+        launch_arguments=[("index", "0"), ("log_level", log_level)],
     )
     camera1 = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [FindPackageShare("camera_reader"), "launch", "camera_reader_launch.py"]
             )
         ),
-        launch_arguments=[("index", "1")],
+        launch_arguments=[("index", "1"), ("log_level", log_level)],
     )
     cameras = GroupAction([camera0, camera1], forwarding=False)
-    return LaunchDescription([cameras])
+    return LaunchDescription([log_level_arg, cameras])

ul/launch/double_imshow.py

@@ -1,26 +1,34 @@
 from launch import LaunchDescription
-from launch.actions import GroupAction, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import PathJoinSubstitution
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description() -> LaunchDescription:
+    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")
+
     imshow0 = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [FindPackageShare("imshow"), "launch", "imshow_launch.py"]
             )
         ),
-        launch_arguments=[("index", "0")],
+        launch_arguments=[("index", "0"), ("log_level", log_level)],
     )
     imshow1 = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [FindPackageShare("imshow"), "launch", "imshow_launch.py"]
             )
         ),
-        launch_arguments=[("index", "1")],
+        launch_arguments=[("index", "1"), ("log_level", log_level)],
     )
     imshows = GroupAction([imshow0, imshow1], forwarding=False)
-    return LaunchDescription([imshows])
+    return LaunchDescription([log_level_arg, imshows])

ul/launch/double_led.py

@@ -1,22 +1,29 @@
 from launch import LaunchDescription
-from launch.actions import GroupAction, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import PathJoinSubstitution
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description() -> LaunchDescription:
+    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")
     led_right = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution([FindPackageShare("pi_led"), "launch", "led_launch.py"])
         ),
-        launch_arguments=[("variant", "right")],
+        launch_arguments=[("variant", "right"), ("log_level", log_level)],
     )
     led_left = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution([FindPackageShare("pi_led"), "launch", "led_launch.py"])
         ),
-        launch_arguments=[("variant", "left")],
+        launch_arguments=[("variant", "left"), ("log_level", log_level)],
     )
     leds = GroupAction([led_left, led_right], forwarding=False)
-    return LaunchDescription([leds])
+    return LaunchDescription([log_level_arg, leds])

ul/launch/nucleo_channel.py

@@ -1,16 +1,24 @@
 from launch import LaunchDescription
-from launch.actions import GroupAction, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import PathJoinSubstitution
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description() -> LaunchDescription:
+    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")
     channel = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [FindPackageShare("nucleo_communicate"), "launch", "channel_launch.py"]
             )
-        )
+        ),
+        launch_arguments=[("log_level", log_level)],
     )
-    return LaunchDescription([GroupAction([channel], forwarding=False)])
+    return LaunchDescription([log_level_arg, GroupAction([channel], forwarding=False)])