[Henning] No, that’s one of the problems with the current implementation because we need a ROS node everywhere. Abstracting that away could help with that. Another problem with the current logging is that we cannot access it again (e.g. a planner creates an error log message and we cannot access this error message again).
[Marq] What’s the problem with rclcpp::get_logger(…)?
[Henning] That does not publish to rosout
[Nathan] Does this support logging the planning scene?
[Henning] No, this is only for log message. But it helps to filter error messages. It enables for structured log messages to be published not for debugging actual data.
[Paul] How about using a singleton with an instance of a ROS node that’s passed around?
[Henning] Summary: There are four possible solutions:
Passing node around
Abstract logging from ROS
Use singleton with a node
Fix rclcpp
[Henning] Please reach out to me if you have know logging examples/ tooling in other applications. I’ll try to make some progress there.
[Sebastian C] Presents the tentative MoveItCon agenda