Revert "Node logger through singleton (warehouse) (#2445)"

This reverts commit 6a7b557.

moveit_core/package.xml

@@ -72,9 +72,6 @@
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_index_cpp</test_depend>
-  <test_depend>launch_testing_ament_cmake</test_depend>
-  <test_depend>rclpy</test_depend>
-  <test_depend>rcl_interfaces</test_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

moveit_core/utils/CMakeLists.txt

@@ -2,13 +2,12 @@ add_library(moveit_utils SHARED
   src/lexical_casts.cpp
   src/message_checks.cpp
   src/rclcpp_utils.cpp
-  src/logger.cpp
 )
 target_include_directories(moveit_utils PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/moveit_core>
 )
-ament_target_dependencies(moveit_utils Boost moveit_msgs rclcpp)
+ament_target_dependencies(moveit_utils Boost moveit_msgs)
 set_target_properties(moveit_utils PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 install(DIRECTORY include/ DESTINATION include/moveit_core)
@@ -29,10 +28,5 @@ ament_target_dependencies(moveit_test_utils
   srdfdom
   urdfdom
   urdfdom_headers
-  rclcpp
 )
 set_target_properties(moveit_test_utils PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
-
-if(BUILD_TESTING)
-    add_subdirectory(test)
-endif()

moveit_ros/warehouse/include/moveit/warehouse/constraints_storage.h

@@ -42,8 +42,6 @@
 
 #include <moveit_warehouse_export.h>
 
-#include <rclcpp/logger.hpp>
-
 namespace moveit_warehouse
 {
 typedef warehouse_ros::MessageWithMetadata<moveit_msgs::msg::Constraints>::ConstPtr ConstraintsWithMetadata;
@@ -85,6 +83,5 @@ class MOVEIT_WAREHOUSE_EXPORT ConstraintsStorage : public MoveItMessageStorage
   void createCollections();
 
   ConstraintsCollection constraints_collection_;
-  rclcpp::Logger logger_;
 };
 }  // namespace moveit_warehouse

moveit_ros/warehouse/include/moveit/warehouse/planning_scene_storage.h

@@ -41,7 +41,6 @@
 #include <moveit_msgs/msg/planning_scene.hpp>
 #include <moveit_msgs/msg/motion_plan_request.hpp>
 #include <moveit_msgs/msg/robot_trajectory.hpp>
-#include <rclcpp/logger.hpp>
 
 #include <moveit_warehouse_export.h>
 
@@ -120,6 +119,5 @@ class MOVEIT_WAREHOUSE_EXPORT PlanningSceneStorage : public MoveItMessageStorage
   PlanningSceneCollection planning_scene_collection_;
   MotionPlanRequestCollection motion_plan_request_collection_;
   RobotTrajectoryCollection robot_trajectory_collection_;
-  rclcpp::Logger logger_;
 };
 }  // namespace moveit_warehouse

moveit_ros/warehouse/include/moveit/warehouse/planning_scene_world_storage.h

@@ -38,7 +38,6 @@
 
 #include <moveit/warehouse/moveit_message_storage.h>
 #include <moveit_msgs/msg/planning_scene_world.hpp>
-#include <rclcpp/logger.hpp>
 
 namespace moveit_warehouse
 {
@@ -71,6 +70,5 @@ class PlanningSceneWorldStorage : public MoveItMessageStorage
   void createCollections();
 
   PlanningSceneWorldCollection planning_scene_world_collection_;
-  rclcpp::Logger logger_;
 };
 }  // namespace moveit_warehouse

moveit_ros/warehouse/include/moveit/warehouse/state_storage.h

@@ -39,7 +39,6 @@
 #include <moveit/warehouse/moveit_message_storage.h>
 #include <moveit/macros/class_forward.h>
 #include <moveit_msgs/msg/robot_state.hpp>
-#include <rclcpp/logger.hpp>
 
 #include <moveit_warehouse_export.h>
 
@@ -79,6 +78,5 @@ class MOVEIT_WAREHOUSE_EXPORT RobotStateStorage : public MoveItMessageStorage
   void createCollections();
 
   RobotStateCollection state_collection_;
-  rclcpp::Logger logger_;
 };
 }  // namespace moveit_warehouse

moveit_ros/warehouse/include/moveit/warehouse/trajectory_constraints_storage.h

@@ -39,7 +39,6 @@
 #include <moveit/warehouse/moveit_message_storage.h>
 #include <moveit/macros/class_forward.h>
 #include <moveit_msgs/msg/trajectory_constraints.hpp>
-#include <rclcpp/logger.hpp>
 
 namespace moveit_warehouse
 {
@@ -85,6 +84,5 @@ class TrajectoryConstraintsStorage : public MoveItMessageStorage
   void createCollections();
 
   TrajectoryConstraintsCollection constraints_collection_;
-  rclcpp::Logger logger_;
 };
 }  // namespace moveit_warehouse

moveit_ros/warehouse/include/moveit/warehouse/warehouse_connector.h

@@ -37,7 +37,6 @@
 #pragma once
 
 #include <string>
-#include <rclcpp/logger.hpp>
 
 namespace moveit_warehouse
 {
@@ -53,6 +52,5 @@ class WarehouseConnector
 private:
   std::string dbexec_;
   int child_pid_;
-  rclcpp::Logger logger_;
 };
 }  // namespace moveit_warehouse

moveit_ros/warehouse/src/broadcast.cpp

@@ -37,7 +37,6 @@
 #include <moveit/warehouse/planning_scene_storage.h>
 #include <moveit/warehouse/constraints_storage.h>
 #include <moveit/warehouse/state_storage.h>
-#include <moveit/utils/logger.hpp>
 #include <boost/program_options/cmdline.hpp>
 #include <boost/program_options/options_description.hpp>
 #include <boost/program_options/parsers.hpp>
@@ -66,7 +65,6 @@ static const std::string CONSTRAINTS_TOPIC = "constraints";
 static const std::string STATES_TOPIC = "robot_states";
 
 using namespace std::chrono_literals;
-using moveit::getLogger;
 
 int main(int argc, char** argv)
 {
@@ -75,7 +73,7 @@ int main(int argc, char** argv)
   node_options.allow_undeclared_parameters(true);
   node_options.automatically_declare_parameters_from_overrides(true);
   rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("publish_warehouse_data", node_options);
-  moveit::getLoggerMut() = node->get_logger();
+  const auto logger = node->get_logger();
 
   // time to wait in between publishing messages
   double delay = 0.001;
@@ -142,7 +140,7 @@ int main(int argc, char** argv)
       moveit_warehouse::PlanningSceneWithMetadata pswm;
       if (pss.getPlanningScene(pswm, scene_name))
       {
-        RCLCPP_INFO(getLogger(), "Publishing scene '%s'",
+        RCLCPP_INFO(logger, "Publishing scene '%s'",
                     pswm->lookupString(moveit_warehouse::PlanningSceneStorage::PLANNING_SCENE_ID_NAME).c_str());
         pub_scene->publish(static_cast<const moveit_msgs::msg::PlanningScene&>(*pswm));
         executor.spin_once(0ns);
@@ -155,14 +153,14 @@ int main(int argc, char** argv)
           std::vector<moveit_warehouse::MotionPlanRequestWithMetadata> planning_queries;
           std::vector<std::string> query_names;
           pss.getPlanningQueries(planning_queries, query_names, pswm->name);
-          RCLCPP_INFO(getLogger(), "There are %d planning queries associated to the scene",
+          RCLCPP_INFO(logger, "There are %d planning queries associated to the scene",
                       static_cast<int>(planning_queries.size()));
           rclcpp::sleep_for(500ms);
           for (std::size_t i = 0; i < planning_queries.size(); ++i)
           {
             if (req)
             {
-              RCLCPP_INFO(getLogger(), "Publishing query '%s'", query_names[i].c_str());
+              RCLCPP_INFO(logger, "Publishing query '%s'", query_names[i].c_str());
               pub_req->publish(static_cast<const moveit_msgs::msg::MotionPlanRequest&>(*planning_queries[i]));
               executor.spin_once(0ns);
             }
@@ -196,7 +194,7 @@ int main(int argc, char** argv)
       moveit_warehouse::ConstraintsWithMetadata cwm;
       if (cs.getConstraints(cwm, cname))
       {
-        RCLCPP_INFO(getLogger(), "Publishing constraints '%s'",
+        RCLCPP_INFO(logger, "Publishing constraints '%s'",
                     cwm->lookupString(moveit_warehouse::ConstraintsStorage::CONSTRAINTS_ID_NAME).c_str());
         pub_constr->publish(static_cast<const moveit_msgs::msg::Constraints&>(*cwm));
         executor.spin_once(0ns);
@@ -218,7 +216,7 @@ int main(int argc, char** argv)
       moveit_warehouse::RobotStateWithMetadata rswm;
       if (rs.getRobotState(rswm, rname))
       {
-        RCLCPP_INFO(getLogger(), "Publishing state '%s'",
+        RCLCPP_INFO(logger, "Publishing state '%s'",
                     rswm->lookupString(moveit_warehouse::RobotStateStorage::STATE_NAME).c_str());
         pub_state->publish(static_cast<const moveit_msgs::msg::RobotState&>(*rswm));
         executor.spin_once(0ns);
@@ -228,7 +226,7 @@ int main(int argc, char** argv)
   }
 
   rclcpp::sleep_for(1s);
-  RCLCPP_INFO(getLogger(), "Done.");
+  RCLCPP_INFO(logger, "Done.");
 
   return 0;
 }

moveit_ros/warehouse/src/constraints_storage.cpp

@@ -35,7 +35,6 @@
 /* Author: Ioan Sucan */
 
 #include <moveit/warehouse/constraints_storage.h>
-#include <moveit/utils/logger.hpp>
 
 #include <utility>
 
@@ -45,11 +44,13 @@ const std::string moveit_warehouse::ConstraintsStorage::CONSTRAINTS_ID_NAME = "c
 const std::string moveit_warehouse::ConstraintsStorage::CONSTRAINTS_GROUP_NAME = "group_id";
 const std::string moveit_warehouse::ConstraintsStorage::ROBOT_NAME = "robot_id";
 
+static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ros.warehouse.constraints_storage");
+
 using warehouse_ros::Metadata;
 using warehouse_ros::Query;
 
 moveit_warehouse::ConstraintsStorage::ConstraintsStorage(warehouse_ros::DatabaseConnection::Ptr conn)
-  : MoveItMessageStorage(std::move(conn)), logger_(moveit::makeChildLogger("moveit_warehouse_constraints_storage"))
+  : MoveItMessageStorage(std::move(conn))
 {
   createCollections();
 }
@@ -80,7 +81,7 @@ void moveit_warehouse::ConstraintsStorage::addConstraints(const moveit_msgs::msg
   metadata->append(ROBOT_NAME, robot);
   metadata->append(CONSTRAINTS_GROUP_NAME, group);
   constraints_collection_->insert(msg, metadata);
-  RCLCPP_DEBUG(logger_, "%s constraints '%s'", replace ? "Replaced" : "Added", msg.name.c_str());
+  RCLCPP_DEBUG(LOGGER, "%s constraints '%s'", replace ? "Replaced" : "Added", msg.name.c_str());
 }
 
 bool moveit_warehouse::ConstraintsStorage::hasConstraints(const std::string& name, const std::string& robot,
@@ -157,7 +158,7 @@ void moveit_warehouse::ConstraintsStorage::renameConstraints(const std::string&
   Metadata::Ptr m = constraints_collection_->createMetadata();
   m->append(CONSTRAINTS_ID_NAME, new_name);
   constraints_collection_->modifyMetadata(q, m);
-  RCLCPP_DEBUG(logger_, "Renamed constraints from '%s' to '%s'", old_name.c_str(), new_name.c_str());
+  RCLCPP_DEBUG(LOGGER, "Renamed constraints from '%s' to '%s'", old_name.c_str(), new_name.c_str());
 }
 
 void moveit_warehouse::ConstraintsStorage::removeConstraints(const std::string& name, const std::string& robot,
@@ -170,5 +171,5 @@ void moveit_warehouse::ConstraintsStorage::removeConstraints(const std::string&
   if (!group.empty())
     q->append(CONSTRAINTS_GROUP_NAME, group);
   unsigned int rem = constraints_collection_->removeMessages(q);
-  RCLCPP_DEBUG(logger_, "Removed %u Constraints messages (named '%s')", rem, name.c_str());
+  RCLCPP_DEBUG(LOGGER, "Removed %u Constraints messages (named '%s')", rem, name.c_str());
 }