Note: This tutorial assumes that you have completed the previous tutorials: ROS tutorials.
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Description: rospyでのログメッセージをrosoutに出力するのはとても簡単で、おすすめです。たくさんのnodesを走らせている時、ノードのコマンドライン出力を見るのはとても難しいです。このかわりにもっと簡単にrosoutにデバッグメッセージを配信して、rqt_console / rxconsoleでこれを見ることができます。*consoleはROSの"over-console"で、全てのROSノードからのログメッセージを表示しフィルタします。

Tutorial Level: BEGINNER

Next Tutorial: rospy Makefile

Before we look at how to use this in rospy, you should probably review the rosout verbosity levels so you know how to use the various log levels properly. It's important to use the correct level as others will see these messages as well and need to understand them properly.

rospy API

rospy has several methods for writing log messages, all starting with "log":

rospy.logdebug(msg, *args)
rospy.logwarn(msg, *args)
rospy.loginfo(msg, *args)
rospy.logerr(msg, *args)
rospy.logfatal(msg, *args)

These levels have a one-to-one correspondence to the rosout verbosity levels. There are four potential places a log message may end up depending on the verbosity level:

  • stdout: loginfo
  • stderr: logerr, logfatal, logwarn (ROS 0.9)
  • your Node's log file: all
  • the /rosout Topic: loginfo, logwarn, logerr, logfatal

NOTE: Your messages will not appear on the /rosout Topic until your Node is fully initialized, so you may not see the initial messages.

Your Node's log file will be in ROS_ROOT/log or ~/.ros/log, unless you override it with the ROS_LOG_DIR environment variable.

If you wish to see logdebug messages on /rosout, you can pass in the log_level parameter to init_node(), e.g.:

rospy.init_node('my_node', log_level=rospy.DEBUG)

Each rospy.log*() method can take in a string msg. If msg is a format string, you can pass in the arguments for the string separately, e.g.

rospy.logerr("%s returned the invalid value %s", other_name, other_value)


Here's a quick example with a talker Node (a runnable entire code example is available here):

   1     topic = 'chatter'
   2     pub = rospy.Publisher(topic, String)
   3     rospy.init_node('talker', anonymous=True)
   4     rospy.loginfo("I will publish to the topic %s", topic)
   5     while not rospy.is_shutdown():
   6         str = "hello world %s"%rospy.get_time()
   7         rospy.loginfo(str)
   8         pub.publish(str)
   9         rospy.sleep(0.1)

On Line 4 and 8 you can see the calls to rospy.loginfo(). These also print to screen as the loginfo also writes to stdout, so you should use it as a drop-in replacement for print.

One of the quick ways to see the Messages on /rosout is to use rostopic echo:

$ rostopic echo rosout
  seq: 1
  stamp: 1247874193220264911
  frame_id: 0
level: 2
name: /talker-13716-1247874192981
msg: hello world 1247874193.14
line: 0
topics: ['/time', '/chatter', '/rosout']

A better way to see these Messages is to use rxconsole before groovy or rqt_console after groovy, which lets filter and sort the messages appropriately.

Next tutorial: ja/rospy_tutorials/Tutorials/Makefile.

Wiki: ja/rospy_tutorials/Tutorials/Logging (last edited 2014-09-22 13:47:09 by Moirai)