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[composition] add launch action console output in the verify section (backport #677) #683

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31 changes: 29 additions & 2 deletions composition/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -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<composition::Talker>
[component_container-1] [INFO] [1714865826.696435882] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[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<composition::Listener>
[component_container-1] [INFO] [1714865826.703414344] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[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

Expand All @@ -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)