use parent logger (ros2#921)

* use parent logger

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
---------

Signed-off-by: Chen Lihui <Lihui.Chen@sony.com>
Signed-off-by: Chen Lihui <lihui.chen@sony.com>
Co-authored-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

rcl/include/rcl/logging_rosout.h

@@ -188,6 +188,69 @@ rcl_logging_rosout_output_handler(
   const char * format,
   va_list * args);
 
+/// Add a subordinate logger based on a logger
+/**
+ * Calling this will use the existing publisher of `logger_name` on a node to create an subordinate
+ * logger that will be used by the logging system to publish all log messages from that Node's
+ * logger.
+ *
+ * If a subordinate logger already exists, it will NOT be created.
+ *
+ * It is expected that after creating a subordinate logger with this function
+ * rcl_logging_rosout_remove_sublogger() will be called for the node to cleanup
+ * the subordinate logger while the publisher of `logger_name` is still valid.
+ *
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] logger_name a logger_name that has a corresponding rosout publisher on a node
+ * \param[in] sublogger_name a sublogger name
+ * \return #RCL_RET_OK if the subordinate logger was created successfully, or
+ * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ * \return #RCL_RET_SUBLOGGER_ALREADY_EXIST if the subordinate logger already exists, or
+ * \return #RCL_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCL_RET_ERROR if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_logging_rosout_add_sublogger(
+  const char * logger_name, const char * sublogger_name);
+
+/// Remove a subordinate logger and cleans up allocated resources
+/**
+ * Calling this will destroy the subordinate logger based on
+ * `logger_name+RCUTILS_LOGGING_SEPARATOR_STRING+sublogger_name` on that node and remove it from
+ * the logging system so that no more Log messages are published to this function.
+ *
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] logger_name a logger_name that has a corresponding rosout publisher on a node
+ * \param[in] sublogger_name a sublogger name
+ * \return #RCL_RET_OK if the subordinate logger was finalized successfully, or
+ * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ * \return #RCL_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCL_RET_ERROR if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_logging_rosout_remove_sublogger(
+  const char * logger_name, const char * sublogger_name);
+
 #ifdef __cplusplus
 }
 #endif