Node logger through singleton (warehouse)

[tylerjw]

Description

This creates a function in moveit utils for getting the logger and demonstrates using it by converting the whole warehouse package.

[codecov]

Codecov Report

Attention: 29 lines in your changes are missing coverage. Please review.

Comparison is base (faa4795) 50.35% compared to head (047dbd6) 50.81%.
Report is 4 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2445      +/-   ##
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+ Coverage   50.35%   50.81%   +0.47%     
==========================================
  Files         390      392       +2     
  Lines       31954    32140     +186     
==========================================
+ Hits        16087    16329     +242     
+ Misses      15867    15811      -56     

Files	Coverage Δ
...oveit/online_signal_smoothing/butterworth_filter.h	0.00% <ø> (ø)
...include/moveit/robot_trajectory/robot_trajectory.h	98.67% <ø> (ø)
...eit_core/robot_trajectory/src/robot_trajectory.cpp	66.86% <100.00%> (ø)
moveit_core/utils/src/logger.cpp	100.00% <100.00%> (ø)
...de/moveit/ompl_interface/detail/ompl_constraints.h	100.00% <100.00%> (ø)
...z_industrial_motion_planner/trajectory_generator.h	100.00% <100.00%> (ø)
...ustrial_motion_planner/trajectory_generator_circ.h	100.00% <ø> (ø)
...dustrial_motion_planner/trajectory_generator_lin.h	100.00% <ø> (ø)
...dustrial_motion_planner/trajectory_generator_ptp.h	100.00% <ø> (ø)
...strial_motion_planner/src/trajectory_functions.cpp	100.00% <ø> (ø)
... and 12 more

... and 6 files with indirect coverage changes

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[tylerjw]

@Abishalini and @henningkayser, I think this is ready for review again.

I implemented child logging with testing for it, and I got it to work on Humble, Rolling, and Iron.

There is one annoying limitation to how I did this that I'm not sure matters, but I'll call it out here so it is easier to understand this PR. You'll notice that the child logger names only have underscores in them.

That is because of the complexity of how node names work and how these child node namespaces interact. The logger names are separated by dots ., and the node is inside namespaces separated by slashes /. On humble to get child loggers to log to /rosout. I need to just create a new node object with the name: /<root node>/<child node>. The namespace is just copied from the root node name. If you want multiple levels of this, I must do some string parsing and create nested namespaces.

I don't think this is necessary, though, because one thing that is different about ros2 for this whole logging namespacing is it is tied to node objects, which means that every child logger is going to change the full namespace name based on what node is running them. So, in ros1 one class in moveit_core would always have the logging namespace: moveit.robot_state it will now be something like move_group.moveit_robot_state because that first part is always the name of the node.

[tylerjw]

@clalancette here is my current attempt to get rosout logging working in moveit without changing API everywhere passing around node or logger objects.

Note that this is just changing one library but if we decide to go this way I'm going to apply this to the whole repo.

If you have a chance to look at this I'd really appreciate it. I know you said there might be some way to hook up rosout logging without nodes? Do you have an example somewhere I could read?

[henningkayser]

shouldn't we use a map to prevent creating redundant nodes? Not it should really matter as long as we are not spinning them

[tylerjw]

This is a good suggestion, I'll do this.