Use rcutils to log (#37)

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros2 · Aug 26, 2024 · 54ae24c · 54ae24c
1 parent d1e6546
commit 54ae24c
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Showing 3 changed files with 14 additions and 6 deletions.
diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
@@ -3,6 +3,7 @@ project(urdf)
 
 find_package(ament_cmake_ros REQUIRED)
 find_package(pluginlib REQUIRED)
+find_package(rcutils REQUIRED)
 find_package(urdf_parser_plugin REQUIRED)
 find_package(urdfdom REQUIRED)
 find_package(urdfdom_headers REQUIRED)
@@ -45,6 +46,7 @@ target_link_libraries(${PROJECT_NAME} PRIVATE
   urdf_parser_plugin::urdf_parser_plugin
   urdfdom_headers::urdfdom_headers
   pluginlib::pluginlib
+  rcutils::rcutils
 )
 
 if(WIN32)
@@ -126,7 +128,6 @@ ament_export_libraries(${PROJECT_NAME})
 # Export modern CMake targets
 ament_export_targets(${PROJECT_NAME})
 
-ament_export_dependencies(pluginlib)
 ament_export_dependencies(urdf_parser_plugin)
 ament_export_dependencies(urdfdom)
 ament_export_dependencies(urdfdom_headers)

diff --git a/urdf/package.xml b/urdf/package.xml
@@ -23,21 +23,22 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <build_depend>pluginlib</build_depend>
+  <build_depend>rcutils</build_depend>
   <build_depend>tinyxml2_vendor</build_depend>
   <build_depend>urdfdom</build_depend>
   <build_depend>urdf_parser_plugin</build_depend>
   <!-- use ROS 2 package urdfdom_headers until upstream provides 1.0.0.-->
   <build_depend>urdfdom_headers</build_depend>
 
   <exec_depend>pluginlib</exec_depend>
+  <exec_depend>rcutils</exec_depend>
   <exec_depend>tinyxml2_vendor</exec_depend>
   <exec_depend>urdfdom</exec_depend>
   <!-- while `urdf_parser_plugin` is a header only lib, `pluginlib` requires the package to exist during runtime. -->
   <exec_depend>urdf_parser_plugin</exec_depend>
   <!-- use ROS 2 package urdfdom_headers until upstream provides 1.0.0.-->
   <exec_depend>urdfdom_headers</exec_depend>
 
-  <build_export_depend>pluginlib</build_export_depend>
   <build_export_depend>urdf_parser_plugin</build_export_depend>
   <build_export_depend>urdfdom</build_export_depend>
   <!-- use ROS 2 package urdfdom_headers until upstream provides 1.0.0.-->

diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp
@@ -36,6 +36,8 @@
 
 #include "urdf/model.h"
 
+#include <rcutils/logging_macros.h>
+
 #include <cassert>
 #include <fstream>
 #include <iostream>
@@ -117,7 +119,8 @@ bool Model::initFile(const std::string & filename)
     xml_file.close();
     return Model::initString(xml_string);
   } else {
-    fprintf(stderr, "Could not open file [%s] for parsing.\n", filename.c_str());
+    RCUTILS_LOG_WARN_NAMED(
+      "urdf", "Could not open file [%s] for parsing.\n", filename.c_str());
     return false;
   }
 }
@@ -129,7 +132,8 @@ ModelImplementation::load_plugin(const std::string & plugin_name)
   try {
     plugin_instance = loader_.createUniqueInstance(plugin_name);
   } catch (const pluginlib::CreateClassException &) {
-    fprintf(stderr, "Failed to load urdf_parser_plugin [%s]\n", plugin_name.c_str());
+    RCUTILS_LOG_ERROR_NAMED(
+      "urdf", "Failed to load urdf_parser_plugin [%s]\n", plugin_name.c_str());
   }
   return plugin_instance;
 }
@@ -166,15 +170,17 @@ bool Model::initString(const std::string & data)
   }
 
   if (!best_plugin) {
-    fprintf(stderr, "No plugin found for given robot description.\n");
+    RCUTILS_LOG_WARN_NAMED(
+      "urdf", "No plugin found for given robot description.\n");
     return false;
   }
 
   model = best_plugin->parse(data);
 
   // copy data from model into this object
   if (!model) {
-    fprintf(stderr, "Failed to parse robot description using: %s\n", best_plugin_name.c_str());
+    RCUTILS_LOG_WARN_NAMED(
+      "urdf", "Failed to parse robot description using: %s\n", best_plugin_name.c_str());
     return false;
   }