added parameter to stop client libraries from generating topics list by trobertson-cpr · Pull Request #1241 · ros/ros_comm

trobertson-cpr · 2017-11-20T21:37:10Z

The cached parameter /rosout_disable_topics_generation stops rospy and roscpp from generating the list of topics and sending them over the network stack as part of their log messages. It does not stop rosout from printing an empty topics list.

log messages

mikepurvis · 2017-11-20T21:46:41Z

Adding this Clearpath's testing, appreciating that there will be discussion about naming of the new param.

log messages (#1241)

dirk-thomas · 2017-12-19T12:54:33Z

The usual comment about ABI breakage applies. I created #1270 to find a consensus on this in order to avoid this "back-and-forth-negotiation" on each patch.

mikepurvis · 2018-04-23T20:30:04Z

We've been running this in production since November, merging.

mathias-luedtke · 2018-05-23T23:19:07Z

clients/rospy/src/rospy/impl/rosout.py

+                    # check parameter server/cache for omit_topics flag
+                    # the same parameter is checked in rosout_appender.cpp for the same purpose
+                    # parameter accesses are cached automatically in python
+                    if rospy.has_param("/rosout_disable_topics_generation"):


This adds 1 or 2 XMLRPC calls to each log action (?)

The comment indicates that the response is cached, but I agree that this is super bad if it's not the case.

Looks like it got disabled:

ros_comm/clients/rospy/src/rospy/msproxy.py

Line 119 in e96c407

if 1: # disable param cache

mathias-luedtke · 2018-05-23T23:20:16Z

clients/roscpp/src/libros/rosout_appender.cpp

+
+  // check parameter server/cache for omit_topics flag
+  // the same parameter is checked in rosout.py for the same purpose
+  ros::param::getCached("/rosout_disable_topics_generation", disable_topics_);


this subscribes almost all roscpp-based nodes to param server updates

getCached calls ROS_DEBUG_NAMED under the hood. Has this been tested with debug log level?

mathias-luedtke · 2018-05-23T23:22:10Z

As a tradeoff this feature could only be activated if the param is present at node start-up.

mathias-luedtke · 2018-05-23T23:29:05Z

clients/rospy/src/rospy/impl/rosout.py

+                    if not disable_topics_:
+                        topics = get_topic_manager().get_topics()
+                    else:
+                        topics = ""


Should be []

k-okada · 2019-01-27T13:56:22Z

As @ipa-mdl pointed out before, this patch outputs a lot of warning message with a debug log level.

user@ubuntu-18:~/roscpp_ws/src/roscpp$ rosrun roscpp_tutorials talker 
log4cxx: Could not read configuration file [/home/user/roscpp_ws/src/ros_comm/tools/rosconsole/config/rosconsole.config].
[ INFO] [1548596827.350993252]: hello world 0
[ INFO] [1548596827.451063670]: hello world 1
[ INFO] [1548596827.551035597]: hello world 2
[ INFO] [1548596827.651068512]: hello world 3
[ INFO] [1548596827.751063854]: hello world 4
[ INFO] [1548596827.851048033]: hello world 5
[ INFO] [1548596827.951058002]: hello world 6
[ INFO] [1548596828.051039711]: hello world 7
[ INFO] [1548596828.151042505]: hello world 8
[ INFO] [1548596828.251036114]: hello world 9
[ INFO] [1548596828.351057021]: hello world 10 <<<<<< called “rosconsole set talker  ros debug”
[DEBUG] [1548596828.393239467]: Connection::drop(2)
Warning: recursive print statement has occurred.  Throwing out recursive print.
[DEBUG] [1548596828.393360576]: TCP socket [11] closed
Warning: recursive print statement has occurred.  Throwing out recursive print.
[DEBUG] [1548596828.393418968]: Connection::drop(0)
Warning: recursive print statement has occurred.  Throwing out recursive print.
[DEBUG] [1548596828.393475843]: Connection::drop(2)
Warning: recursive print statement has occurred.  Throwing out recursive print.
[DEBUG] [1548596828.393530428]: Connection::drop(2)
Warning: recursive print statement has occurred.  Throwing out recursive print.
[ INFO] [1548596828.451058100]: hello world 11
Warning: recursive print statement has occurred.  Throwing out recursive print.
[ INFO] [1548596828.551057791]: hello world 12
Warning: recursive print statement has occurred.  Throwing out recursive print.
[ INFO] [1548596828.651057262]: hello world 13
Warning: recursive print statement has occurred.  Throwing out recursive print.
[ INFO] [1548596828.751056654]: hello world 14
Warning: recursive print statement has occurred.  Throwing out recursive print.
^C[ INFO] [1548596828.851131428]: hello world 15

And if we activate this feature on the startup, then the warnings disappears

user@ubuntu-18:~/roscpp_ws/src/roscpp$ git diff
diff --git a/clients/roscpp/src/libros/rosout_appender.cpp b/clients/roscpp/src/libros/rosout_appender.cpp
index f22cd9596..3e7597691 100644
--- a/clients/roscpp/src/libros/rosout_appender.cpp
+++ b/clients/roscpp/src/libros/rosout_appender.cpp
@@ -47,6 +47,7 @@ namespace ros
 
 ROSOutAppender::ROSOutAppender()
 : shutting_down_(false)
+, disable_topics_(false)
 , publish_thread_(boost::bind(&ROSOutAppender::logThread, this))
 {
   AdvertiseOptions ops;
@@ -54,6 +55,10 @@ ROSOutAppender::ROSOutAppender()
   ops.latch = true;
   SubscriberCallbacksPtr cbs(boost::make_shared<SubscriberCallbacks>());
   TopicManager::instance()->advertise(ops, cbs);
+
+  // check parameter server/cache for omit_topics flag
+  // the same parameter is checked in rosout.py for the same purpose
+  ros::param::getCached("/rosout_disable_topics_generation", disable_topics_);
 }
 
 ROSOutAppender::~ROSOutAppender()
@@ -104,10 +109,6 @@ void ROSOutAppender::log(::ros::console::Level level, const char* str, const cha
   msg->function = function;
   msg->line = line;
   
-  // check parameter server/cache for omit_topics flag
-  // the same parameter is checked in rosout.py for the same purpose
-  ros::param::getCached("/rosout_disable_topics_generation", disable_topics_);
-
   if (!disable_topics_){
     this_node::getAdvertisedTopics(msg->topics);
   }

Or check hasParam before retrive a cached parameter

diff --git a/clients/roscpp/src/libros/rosout_appender.cpp b/clients/roscpp/src/libros/rosout_appender.cpp
index f22cd9596..c7adaca73 100644
--- a/clients/roscpp/src/libros/rosout_appender.cpp
+++ b/clients/roscpp/src/libros/rosout_appender.cpp
@@ -106,7 +106,8 @@ void ROSOutAppender::log(::ros::console::Level level, const char* str, const cha
   
   // check parameter server/cache for omit_topics flag
   // the same parameter is checked in rosout.py for the same purpose
-  ros::param::getCached("/rosout_disable_topics_generation", disable_topics_);
+  if (ros::param::has("/rosout_disable_topics_generation"))
+    ros::param::getCached("/rosout_disable_topics_generation", disable_topics_);
 
   if (!disable_topics_){
     this_node::getAdvertisedTopics(msg->topics);

How do you think? @dirk-thomas @mikepurvis

dirk-thomas · 2019-01-27T16:43:22Z

Please create a PR with the proposed changes. Comments on a closed tickets will likely get lost.

…nitialization time ros#1241 outputs a lot of warning message with a debug log level. c.f. ros#1241 (comment)

added parameter to stop client libraries from generating topics list in

83bc189

log messages

mikepurvis added the hitlist label Nov 20, 2017

mikepurvis pushed a commit that referenced this pull request Nov 20, 2017

added parameter to stop client libraries from generating topics list in

7493c51

log messages (#1241)

dirk-thomas added the consider-future-release label Dec 19, 2017

mikepurvis changed the base branch from lunar-devel to melodic-devel April 21, 2018 21:04

mikepurvis merged commit d21a33c into ros:melodic-devel Apr 23, 2018

mikepurvis deleted the NIM-4214 branch April 23, 2018 20:30

mathias-luedtke mentioned this pull request May 23, 2018

ros_comm 1.4.1 breaks socketcan_bridge tests #1408

Closed

mathias-luedtke reviewed May 23, 2018

View reviewed changes

mikepurvis mentioned this pull request May 28, 2018

Allow disabling rosout file logging (to rosout.log) (#1381) #1413

Merged

dirk-thomas mentioned this pull request Aug 9, 2018

changes between 1.14.3 and 1.13.6 for backporting #1477

Merged

mgrrx mentioned this pull request Jan 12, 2019

rospy client does not cache parameters #1575

Closed

k-okada added a commit to k-okada/ros_comm that referenced this pull request Jan 27, 2019

move check parameter for /rosout_disable_topics_generation only for i…

6fee62c

…nitialization time ros#1241 outputs a lot of warning message with a debug log level. c.f. ros#1241 (comment)

k-okada mentioned this pull request Jan 27, 2019

move check parameter for /rosout_disable_topics_generation only for initialization time #1597

Closed

paulbovbel mentioned this pull request Jan 31, 2019

Use cached parameter for logging check locusrobotics/ros_comm#10

Merged

mjcarroll mentioned this pull request Oct 3, 2019

Remove (potentially) recursive DEBUG statements #1823

Merged

flixr pushed a commit to flixr/ros_comm that referenced this pull request Jan 12, 2020

move check parameter for /rosout_disable_topics_generation only for i…

5bac252

…nitialization time ros#1241 outputs a lot of warning message with a debug log level. c.f. ros#1241 (comment)

chris20623 mentioned this pull request Aug 10, 2020

When two nodes with the same name register to the ROS master, both nodes receive a shutdown request #2018

Closed

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trobertson-cpr commented Nov 20, 2017

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