rclcpp "throttle" logging #797
Description
Feature request:
rclcpp logging client library support for throttle loggers.
I found a TODO in the source code, and figured it deserved to be called out in an issue for visibility:
# TODO(dhood): Implement the throttle macro using time sources available in rclcpp
excluded_features = ['named', 'throttle']
def is_supported_feature_combination(feature_combination):
is_excluded = any([ef in feature_combination for ef in excluded_features])
return not is_excluded
}@
This is also sort-of captured in a bullet point tucked away in a nearly-completed ticket in the ros2 repo: ros2/ros2#425
A description of the desired functionality can be found in the ROS1 wiki:
Throttle Logger
Throttle
ROS_DEBUG_THROTTLE(period, ...)
ROS_DEBUG_STREAM_THROTTLE(period, args)
ROS_DEBUG_THROTTLE_NAMED(period, name, ...)
ROS_DEBUG_STREAM_THROTTLE_NAMED(period, name, args)
Throttled output will print a message at most once per "period".
Delayed throttle
ROS_DEBUG_DELAYED_THROTTLE(period, ...)
ROS_DEBUG_STREAM_DELAYED_THROTTLE(period, args)
ROS_DEBUG_DELAYED_THROTTLE_NAMED(period, name, ...)
ROS_DEBUG_STREAM_DELAYED_THROTTLE_NAMED(period, name, args)
Delayed throttled output will print a message at most once per "period" and no message will be printed before one "period" has elapsed.