From 6670845f94356ecd1ade9dc34d0581bba1848271 Mon Sep 17 00:00:00 2001 From: Mikael Arguedas Date: Mon, 6 May 2024 13:29:52 +0200 Subject: [PATCH] [composition] add launch action console output in the verify section (#677) Signed-off-by: Mikael Arguedas (cherry picked from commit 34d29db73e78a84a174ad8699a2d646b0eeb1cdf) --- composition/README.md | 31 +++++++++++++++++++++++++++++-- 1 file changed, 29 insertions(+), 2 deletions(-) diff --git a/composition/README.md b/composition/README.md index 34c687477..033b2ceae 100644 --- a/composition/README.md +++ b/composition/README.md @@ -144,6 +144,33 @@ When executed correctly, strings should be printed to terminal similar to what i :warning: > Note that linktime-composed components **will not be reflected in the `ros2 component list`** command line tool output. +### Composition Using Launch Actions + +When executed correctly, strings should be printed to terminal similar to what is shown below: + +```bash +[INFO] [launch]: All log files can be found below /root/.ros/log/2024-05-04-23-37-06-363020-d8ff93e471d7-9387 +[INFO] [launch]: Default logging verbosity is set to INFO +[INFO] [component_container-1]: process started with pid [9402] +[component_container-1] [INFO] [1714865826.695090046] [my_container]: Load Library: /opt/ros/iron/lib/libtalker_component.so +[component_container-1] [INFO] [1714865826.696388047] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate +[component_container-1] [INFO] [1714865826.696435882] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate +[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/talker' in container '/my_container' +[component_container-1] [INFO] [1714865826.702958710] [my_container]: Load Library: /opt/ros/iron/lib/liblistener_component.so +[component_container-1] [INFO] [1714865826.703401061] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate +[component_container-1] [INFO] [1714865826.703414344] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate +[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/listener' in container '/my_container' +[component_container-1] [INFO] [1714865827.701941449] [talker]: Publishing: 'Hello World: 1' +[component_container-1] [INFO] [1714865827.702047599] [listener]: I heard: [Hello World: 1] +[component_container-1] [INFO] [1714865828.701984118] [talker]: Publishing: 'Hello World: 2' +[component_container-1] [INFO] [1714865828.702154523] [listener]: I heard: [Hello World: 2] +[component_container-1] [INFO] [1714865829.702004471] [talker]: Publishing: 'Hello World: 3' +[component_container-1] [INFO] [1714865829.702176059] [listener]: I heard: [Hello World: 3] +[component_container-1] [INFO] [1714865830.701876733] [talker]: Publishing: 'Hello World: 4' +[component_container-1] [INFO] [1714865830.701965546] [listener]: I heard: [Hello World: 4] +[component_container-1] [INFO] [1714865831.701885355] [talker]: Publishing: 'Hello World: 5' +[component_container-1] [INFO] [1714865831.701984823] [listener]: I heard: [Hello World: 5] +``` ## FAQ @@ -153,5 +180,5 @@ When executed correctly, strings should be printed to terminal similar to what i ## References -1. [Composing multiple nodes in a single process](https://docs.ros.org/en/rolling/Tutorials/Intermediate/Composition.html) -2. [About Composition](https://docs.ros.org/en/rolling/Concepts/About-Composition.html#about-composition) +1. [Composing multiple nodes in a single process](https://docs.ros.org/en/iron/Tutorials/Intermediate/Composition.html) +2. [About Composition](https://docs.ros.org/en/iron/Concepts/About-Composition.html#about-composition)