Switch to using RCLCPP logging macros in the lifecycle package. (#644)

* Switch to using RCLCPP logging macros in the lifecycle package.

This ensures that the logging will go out to rosout and
to disk (if configured like that).

Signed-off-by: Chris Lalancette <clalancette@gmail.com>

demo_nodes_cpp/src/topics/talker.cpp

@@ -45,7 +45,6 @@ class Talker : public rclcpp::Node
         msg_ = std::make_unique<std_msgs::msg::String>();
         msg_->data = "Hello World: " + std::to_string(count_++);
         RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", msg_->data.c_str());
-        RCUTILS_LOG_INFO("RCUTILS_LOG_INFO: publishing");
         // Put the message into a queue to be processed by the middleware.
         // This call is non-blocking.
         pub_->publish(std::move(msg_));

lifecycle/CMakeLists.txt

@@ -23,22 +23,22 @@ add_executable(lifecycle_talker
   src/lifecycle_talker.cpp)
 ament_target_dependencies(lifecycle_talker
   "lifecycle_msgs"
+  "rclcpp"
   "rclcpp_lifecycle"
   "std_msgs"
 )
 add_executable(lifecycle_listener
   src/lifecycle_listener.cpp)
 ament_target_dependencies(lifecycle_listener
   "lifecycle_msgs"
-  "rclcpp_lifecycle"
+  "rclcpp"
   "std_msgs"
 )
 add_executable(lifecycle_service_client
   src/lifecycle_service_client.cpp)
 ament_target_dependencies(lifecycle_service_client
   "lifecycle_msgs"
-  "rclcpp_lifecycle"
-  "std_msgs"
+  "rclcpp"
 )
 
 install(TARGETS

lifecycle/package.xml

@@ -16,13 +16,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>lifecycle_msgs</build_depend>
-  <build_depend>rclcpp_lifecycle</build_depend>
-  <build_depend>std_msgs</build_depend>
-
-  <exec_depend>rclcpp_lifecycle</exec_depend>
-  <exec_depend>lifecycle_msgs</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
+  <depend>lifecycle_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>std_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

lifecycle/src/lifecycle_listener.cpp

@@ -12,15 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <functional>
 #include <memory>
 #include <string>
 
 #include "lifecycle_msgs/msg/transition_event.hpp"
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "rcutils/logging_macros.h"
-
 #include "std_msgs/msg/string.hpp"
 
 /// LifecycleListener class as a simple listener node

lifecycle/src/lifecycle_service_client.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <chrono>
+#include <future>
 #include <memory>
 #include <string>
 #include <thread>
@@ -24,8 +25,6 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "rcutils/logging_macros.h"
-
 using namespace std::chrono_literals;
 
 // which node to handle

lifecycle/src/lifecycle_talker.cpp

@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include <chrono>
-#include <iostream>
 #include <memory>
 #include <string>
 #include <thread>
@@ -27,8 +26,6 @@
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
 
-#include "rcutils/logging_macros.h"
-
 #include "std_msgs/msg/string.hpp"
 
 using namespace std::chrono_literals;
@@ -83,11 +80,9 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
     if (!pub_->is_activated()) {
       RCLCPP_INFO(
         get_logger(), "Lifecycle publisher is currently inactive. Messages are not published.");
-      RCUTILS_LOG_INFO("RCUTILS_LOG_INFO: inactive");
     } else {
       RCLCPP_INFO(
         get_logger(), "Lifecycle publisher is active. Publishing: [%s]", msg->data.c_str());
-      RCUTILS_LOG_INFO("RCUTILS_LOG_INFO: publishing");
     }
 
     // We independently from the current state call publish on the lifecycle
@@ -154,7 +149,7 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
     // Overriding this method is optional, a lot of times the default is enough.
     LifecycleNode::on_activate(state);
 
-    RCUTILS_LOG_INFO_NAMED(get_name(), "on_activate() is called.");
+    RCLCPP_INFO(get_logger(), "on_activate() is called.");
 
     // Let's sleep for 2 seconds.
     // We emulate we are doing important
@@ -190,7 +185,7 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
     // Overriding this method is optional, a lot of times the default is enough.
     LifecycleNode::on_deactivate(state);
 
-    RCUTILS_LOG_INFO_NAMED(get_name(), "on_deactivate() is called.");
+    RCLCPP_INFO(get_logger(), "on_deactivate() is called.");
 
     // We return a success and hence invoke the transition to the next
     // step: "inactive".
@@ -221,7 +216,7 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
     timer_.reset();
     pub_.reset();
 
-    RCUTILS_LOG_INFO_NAMED(get_name(), "on cleanup is called.");
+    RCLCPP_INFO(get_logger(), "on cleanup is called.");
 
     // We return a success and hence invoke the transition to the next
     // step: "unconfigured".
@@ -252,10 +247,7 @@ class LifecycleTalker : public rclcpp_lifecycle::LifecycleNode
     timer_.reset();
     pub_.reset();
 
-    RCUTILS_LOG_INFO_NAMED(
-      get_name(),
-      "on shutdown is called from state %s.",
-      state.label().c_str());
+    RCLCPP_INFO(get_logger(), "on shutdown is called from state %s.", state.label().c_str());
 
     // We return a success and hence invoke the transition to the next
     // step: "finalized".