I have ROS2 package written in python (with usage of rclpy) with ROS2 node. Inside this node I want to use node logger, lets say in following way:
def __init__(self):
self.get_logger().info("Starting my node!")
self.get_logger().warn("My node has already started!")
This works perfectly with standard python build, but when I want to build it using Cython (because code is going to production) I encounter error:
Logger severity cannot be changed between calls.
This is caused by implementation of CallerId:
class CallerId(
namedtuple('CallerId', ['function_name', 'file_path', 'line_number', 'last_index'])):
def __new__(cls, frame=None):
if not frame:
frame = _find_caller(inspect.currentframe())
return super(CallerId, cls).__new__(
cls,
function_name=frame.f_code.co_name,
file_path=os.path.abspath(inspect.getframeinfo(frame).filename),
line_number=frame.f_lineno,
last_index=frame.f_lasti, # To distinguish between two callers on the same line
)
in file rcutils_logger.py. I understand perfectly that after "cythonization" of file my inspect module won't work anymore (because every call to inspect functions returns same line/file), but I am unable to fix it. Has anyone encountered similar problems before?
Thank you all for the suggestions. I've managed to implement something that satisfies my needs but isn't actually a solution to the problem.
I've implemented a simple wrapper around Node, which overloads the get_logger method, thus creating a new one on each call, so it means that assuming you don't access the logger by saving it in a variable every logger has exactly one call with same severity.
from uuid import uuid4
from rclpy.impl.rcutils_logger import RcutilsLogger as RosLogger
from rclpy.node import Node
class NodeAdapter(Node):
def __init__(self, node_name: str, *args, **kwargs) -> None:
super().__init__(node_name, *args, **kwargs)
def get_logger(self) -> RosLogger:
unique_logger_name = f"{uuid4()}"
return self._logger.get_child(unique_logger_name)