ROS2_07 - 8BitsCoding/RobotMentor GitHub Wiki

Command line

#include "rclcpp/rclcpp.hpp"

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  auto node = rclcpp::Node::make_shared("log_demo");
  rclcpp::WallRate loop_rate(0.5);
  rcutils_logging_set_logger_level(node->get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG);

  while (rclcpp::ok()) {

    RCLCPP_DEBUG(node->get_logger(), "Debug Msg");
    RCLCPP_INFO(node->get_logger(), "Info Msg");
    RCLCPP_WARN(node->get_logger(), "Warning Msg");
    RCLCPP_ERROR(node->get_logger(), "Error Msg");
    RCLCPP_FATAL(node->get_logger(), "Fatal Msg");
    rclcpp::spin_some(node);
    loop_rate.sleep();
        
  }
  rclcpp::shutdown();
  return 0;
}

[DEBUG] [log_demo]: Debug Msg
[INFO] [log_demo]: Info Msg
[WARN] [log_demo]: Warning Msg
[ERROR] [log_demo]: Error Msg
[FATAL] [log_demo]: Fatal Msg

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Rviz

Rviz에서 RobotModel의 File을 선택해서 File자체를 받아올 수 있음(Rviz1에도 있었나?)