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1st draft bring up for "ros2 log watch" sub-command.
Signed-off-by: Tomoya Fujita <tomoya.fujita825@gmail.com> clean up the package and implementation. Signed-off-by: Tomoya Fujita <tomoya.fujita825@gmail.com> fix ros2log test_watch.py. Signed-off-by: Tomoya Fujita <tomoya.fujita825@gmail.com> support QoS configuration argument for ros2 log watch. Signed-off-by: Tomoya Fujita <tomoya.fujita825@gmail.com> Call content filtering API for logger name and level if available. Signed-off-by: Tomoya Fujita <tomoya.fujita825@gmail.com> add test_cli.py to test "ros2 log watch". Signed-off-by: Tomoya Fujita <tomoya.fujita825@gmail.com> remove ros2log/README.md. Signed-off-by: Tomoya Fujita <tomoya.fujita825@gmail.com> :construction: add list subcommand Signed-off-by: Decwest <fumiyaonishi1016@gmail.com> bug: fix test Signed-off-by: Decwest <fumiyaonishi1016@gmail.com> :recycle: delete non-necessary fixture node for test Signed-off-by: Decwest <fumiyaonishi1016@gmail.com> :bug: fix to print one by one Signed-off-by: Decwest <fumiyaonishi1016@gmail.com> support "ros2 log levels". Signed-off-by: Tomoya Fujita <tomoya.fujita825@gmail.com> :zap: add get and set subcommand Signed-off-by: Decwest <fumiyaonishi1016@gmail.com> :bug: align logger's initial state during test Signed-off-by: Decwest <fumiyaonishi1016@gmail.com> FIX: add sleep to reduce cpu consumption Signed-off-by: Decwest <fumiyaonishi1016@gmail.com> FIX: rewrite waiting acync process Signed-off-by: Decwest <fumiyaonishi1016@gmail.com> :FIX: delete --include-hidden-nodes option Signed-off-by: Decwest <fumiyaonishi1016@gmail.com> FIX: import from api Signed-off-by: Decwest <fumiyaonishi1016@gmail.com> FIX: add ValueError when empty string is inputted in get_absolute_node_name Signed-off-by: Decwest <fumiyaonishi1016@gmail.com> Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com>
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‎ros2log/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>ros2log</name>
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<version>0.40.4</version>
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<description>The log command for ROS 2 command line tools.</description>
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<maintainer email="tomoya.fujita825@gmail.com">Tomoya Fujita</maintainer>
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<maintainer email="fumiya-onishi@keio.jp">Fumiya Ohnishi</maintainer>
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<license>Apache License 2.0</license>
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<author email="tomoya.fujita825@gmail.com">Tomoya Fujita</author>
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<author email="fumiya-onishi@keio.jp">Fumiya Ohnishi</author>
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<exec_depend>python3-argcomplete</exec_depend>
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<exec_depend>python3-packaging</exec_depend>
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<exec_depend>python3-psutil</exec_depend>
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<exec_depend>rcl_interfaces</exec_depend>
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<exec_depend>rclpy</exec_depend>
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<exec_depend>ros2cli</exec_depend>
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<exec_depend>rosgraph_msgs</exec_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>ament_xmllint</test_depend>
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<test_depend>python3-pytest</test_depend>
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<test_depend>python3-pytest-timeout</test_depend>
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<test_depend>test_msgs</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>

‎ros2log/resource/ros2log‎

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‎ros2log/ros2log/__init__.py‎

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‎ros2log/ros2log/api/__init__.py‎

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# Copyright 2026 Tomoya Fujita, Fumiya Ohnishi
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from collections.abc import Iterator
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from collections.abc import Sequence
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from rcl_interfaces.msg import LoggerLevel
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from rcl_interfaces.msg import SetLoggerLevelsResult
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from rcl_interfaces.srv import GetLoggerLevels
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from rcl_interfaces.srv import SetLoggerLevels
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import rclpy
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from ros2node.api import get_absolute_node_name
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from ros2node.api import get_node_names
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from ros2node.api import NodeName
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LOGGER_GET_SERVICE_SUFFIX = '/get_logger_levels'
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LOGGER_SET_SERVICE_SUFFIX = '/set_logger_levels'
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LOGGER_GET_SERVICE_TYPE = 'rcl_interfaces/srv/GetLoggerLevels'
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LOGGER_SET_SERVICE_TYPE = 'rcl_interfaces/srv/SetLoggerLevels'
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def _require_absolute_node_name(node_name: str) -> str:
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absolute_node_name = get_absolute_node_name(node_name)
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if absolute_node_name is None:
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raise ValueError('node_name must not be empty')
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return absolute_node_name
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def get_get_logger_levels_service_name(node_name: str) -> str:
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"""Return the get-logger-levels service name for a node."""
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return f'{_require_absolute_node_name(node_name)}{LOGGER_GET_SERVICE_SUFFIX}'
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def get_set_logger_levels_service_name(node_name: str) -> str:
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"""Return the set-logger-levels service name for a node."""
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return f'{_require_absolute_node_name(node_name)}{LOGGER_SET_SERVICE_SUFFIX}'
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def get_logger_name_for_node(node_name: str) -> str:
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"""
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Convert a fully qualified node name into its root logger name.
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ROS node logger names use dot-separated namespaces, e.g. `/demo/talker`
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becomes `demo.talker`.
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"""
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absolute_node_name = _require_absolute_node_name(node_name)
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return absolute_node_name.lstrip('/').replace('/', '.')
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def format_logger_service_unavailable_error(node_name: str) -> str:
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"""Return the user-facing error for nodes without logger services."""
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absolute_node_name = _require_absolute_node_name(node_name)
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return (
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f"Logger service not available for node '{absolute_node_name}'.\n"
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"The 'enable_logger_service' node option must be enabled for this node."
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)
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def iter_logger_service_nodes(
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*,
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node,
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) -> Iterator[NodeName]:
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"""Yield nodes that expose the logger get/set services as they are discovered."""
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for node_name in get_node_names(node=node):
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if node_has_logger_services(node, node_name):
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yield node_name
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def get_logger_service_nodes(*, node) -> list[NodeName]:
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"""Return all nodes that expose the logger get/set services."""
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return list(iter_logger_service_nodes(node=node))
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def get_target_node_names(
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*,
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node,
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node_name: str | None = None,
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all_nodes: bool = False,
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) -> tuple[list[str] | None, str | None]:
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"""Resolve the node names targeted by a get/set command."""
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logger_service_nodes = get_logger_service_nodes(node=node)
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logger_service_node_names = {
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logger_node.full_name for logger_node in logger_service_nodes
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}
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if all_nodes:
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return sorted(logger_service_node_names), None
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absolute_node_name = get_absolute_node_name(node_name)
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all_node_names = {
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discovered_node.full_name for discovered_node in get_node_names(node=node)
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}
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if absolute_node_name not in all_node_names:
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return None, 'Node not found'
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if absolute_node_name not in logger_service_node_names:
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return None, format_logger_service_unavailable_error(absolute_node_name)
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return [absolute_node_name], None
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def node_has_logger_services(node, node_name: NodeName) -> bool:
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"""Check if a node provides both get/set logger level services."""
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services = node.get_service_names_and_types_by_node(node_name.name, node_name.namespace)
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service_map = dict(services)
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expected_get = get_get_logger_levels_service_name(node_name.full_name)
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expected_set = get_set_logger_levels_service_name(node_name.full_name)
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return (
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_service_has_type(service_map, expected_get, LOGGER_GET_SERVICE_TYPE) and
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_service_has_type(service_map, expected_set, LOGGER_SET_SERVICE_TYPE)
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)
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def call_get_logger_levels(
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*,
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node,
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logger_names_by_node: dict[str, Sequence[str]],
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timeout_sec: float = 5.0,
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) -> dict[str, list[LoggerLevel] | Exception]:
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"""Call the get-logger-levels service for one or more nodes."""
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clients = {}
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futures = {}
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results = {}
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for node_name, logger_names in logger_names_by_node.items():
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client = node.create_client(
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GetLoggerLevels,
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get_get_logger_levels_service_name(node_name),
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)
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clients[node_name] = client
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if not client.wait_for_service(timeout_sec=timeout_sec):
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results[node_name] = RuntimeError(
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'Wait for service timed out waiting for logger services '
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f'for node {node_name}'
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)
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continue
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request = GetLoggerLevels.Request()
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request.names = list(logger_names)
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futures[node_name] = client.call_async(request)
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while futures and not all(future.done() for future in futures.values()):
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rclpy.spin_once(node, timeout_sec=0.1)
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for node_name, future in futures.items():
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if future.result() is not None:
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results[node_name] = list(future.result().levels)
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else:
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results[node_name] = future.exception()
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return results
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def call_set_logger_levels(
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*,
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node,
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levels_by_node: dict[str, Sequence[LoggerLevel]],
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timeout_sec: float = 5.0,
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) -> dict[str, list[SetLoggerLevelsResult] | Exception]:
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"""Call the set-logger-levels service for one or more nodes."""
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clients = {}
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futures = {}
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results = {}
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for node_name, levels in levels_by_node.items():
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client = node.create_client(
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SetLoggerLevels,
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get_set_logger_levels_service_name(node_name),
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)
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clients[node_name] = client
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if not client.wait_for_service(timeout_sec=timeout_sec):
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results[node_name] = RuntimeError(
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'Wait for service timed out waiting for logger services '
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f'for node {node_name}'
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)
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continue
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request = SetLoggerLevels.Request()
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request.levels = list(levels)
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futures[node_name] = client.call_async(request)
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while futures and not all(future.done() for future in futures.values()):
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rclpy.spin_once(node, timeout_sec=0.1)
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for node_name, future in futures.items():
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if future.result() is not None:
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results[node_name] = list(future.result().results)
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else:
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results[node_name] = future.exception()
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return results
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def _service_has_type(service_map, service_name: str, service_type: str) -> bool:
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"""Check if a service exists and matches the expected type."""
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types = service_map.get(service_name)
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if not types:
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return False
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return service_type in types

‎ros2log/ros2log/command/__init__.py‎

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‎ros2log/ros2log/command/log.py‎

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# Copyright 2025 Tomoya Fujita, Fumiya Ohnishi
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from ros2cli.command import add_subparsers_on_demand
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from ros2cli.command import CommandExtension
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class LogCommand(CommandExtension):
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"""Various log related sub-commands."""
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def add_arguments(self, parser, cli_name):
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self._subparser = parser
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# Add global debug flag for all log subcommands
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parser.add_argument(
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'--debug',
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action='store_true',
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default=False,
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help='Enable debug output for verbose information')
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# add arguments and sub-commands of verbs
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add_subparsers_on_demand(
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parser, cli_name, '_verb', 'ros2log.verb', required=False)
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def main(self, *, parser, args):
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if not hasattr(args, '_verb'):
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# in case no verb was passed
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self._subparser.print_help()
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return 0
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extension = getattr(args, '_verb')
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# call the verb's main method
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return extension.main(args=args)

‎ros2log/ros2log/py.typed‎

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‎ros2log/ros2log/verb/__init__.py‎

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# Copyright 2025 Tomoya Fujita, Fumiya Ohnishi
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from ros2cli.plugin_system import PLUGIN_SYSTEM_VERSION
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from ros2cli.plugin_system import satisfies_version
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class VerbExtension:
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"""
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The extension point for 'log' verb extensions.
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The following properties must be defined:
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* `NAME` (will be set to the entry point name)
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The following methods can be defined:
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* `main` - handles CLI invocation
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The following methods can be defined:
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* `add_arguments`
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"""
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NAME = None
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EXTENSION_POINT_VERSION = '0.1'
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def __init__(self):
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super(VerbExtension, self).__init__()
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satisfies_version(PLUGIN_SYSTEM_VERSION, '^0.1')
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def add_arguments(self, parser, cli_name):
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pass
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def main(self, *, args):
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raise NotImplementedError()

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