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feat(autoware_utils_logging): split package (#37)
* feat(autoware_utils_logging): split package Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * add deprecated message Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> --------- Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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‎autoware_utils/README.md

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@@ -35,7 +35,6 @@ The ROS module provides utilities for working with ROS messages and nodes:
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- **`debug_publisher.hpp`**: A helper class for publishing debug messages with timestamps.
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- **`diagnostics_interface.hpp`**: An interface for publishing diagnostic messages.
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- **`logger_level_configure.hpp`**: Utility for configuring logger levels dynamically.
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- **`msg_covariance.hpp`**: Indices for accessing covariance matrices in ROS messages.
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- **`msg_operation.hpp`**: Overloaded operators for quaternion messages.
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- **`parameter.hpp`**: Simplifies parameter retrieval and declaration.

‎autoware_utils/include/autoware_utils/ros/logger_level_configure.hpp

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// Copyright 2023 Tier IV, Inc.
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// Copyright 2025 The Autoware Contributors
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// =============== Note ===============
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// This is a util class implementation of the logger_config_component provided by ROS 2
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// https://github.com/ros2/demos/blob/humble/logging_demo/src/logger_config_component.cpp
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//
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// When ROS 2 officially supports the set_logger_level option in release version, this class can be
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// removed.
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// https://github.com/ros2/ros2/issues/1355
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// =============== How to use ===============
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// ___In your_node.hpp___
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// #include "autoware/universe_utils/ros/logger_level_configure.hpp"
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// class YourNode : public rclcpp::Node {
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// ...
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//
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// // Define logger_configure as a node class member variable
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// std::unique_ptr<autoware::universe_utils::LoggerLevelConfigure> logger_configure_;
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// }
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//
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// ___In your_node.cpp___
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// YourNode::YourNode() {
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// ...
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//
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// // Set up logger_configure
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// logger_configure_ = std::make_unique<LoggerLevelConfigure>(this);
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// }
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#ifndef AUTOWARE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_
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#define AUTOWARE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_
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#include "logging_demo/srv/config_logger.hpp"
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#include <rclcpp/rclcpp.hpp>
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namespace autoware_utils
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{
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class LoggerLevelConfigure
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{
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private:
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using ConfigLogger = logging_demo::srv::ConfigLogger;
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public:
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explicit LoggerLevelConfigure(rclcpp::Node * node);
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// NOLINTBEGIN(build/namespaces, whitespace/line_length)
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// clang-format off
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private:
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rclcpp::Logger ros_logger_;
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rclcpp::Service<ConfigLogger>::SharedPtr srv_config_logger_;
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#pragma message("#include <autoware_utils/ros/logger_level_configure.hpp> is deprecated. Use #include <autoware_utils_logging/logger_level_configure.hpp> instead.")
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#include <autoware_utils_logging/logger_level_configure.hpp>
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namespace autoware_utils { using namespace autoware_utils_logging; }
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void on_logger_config_service(
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const ConfigLogger::Request::SharedPtr request,
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const ConfigLogger::Response::SharedPtr response);
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};
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// clang-format on
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// NOLINTEND
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} // namespace autoware_utils
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#endif // AUTOWARE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_

‎autoware_utils/package.xml

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@@ -20,6 +20,7 @@
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<depend>autoware_perception_msgs</depend>
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<depend>autoware_planning_msgs</depend>
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<depend>autoware_utils_geometry</depend>
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<depend>autoware_utils_logging</depend>
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<depend>autoware_utils_math</depend>
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<depend>autoware_utils_pcl</depend>
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<depend>autoware_utils_visualization</depend>
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<depend>diagnostic_msgs</depend>
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<depend>geometry_msgs</depend>
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<depend>libboost-system-dev</depend>
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<depend>logging_demo</depend>
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<depend>rclcpp</depend>
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<depend>tf2</depend>
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<depend>tf2_eigen</depend>

‎autoware_utils_logging/CMakeLists.txt

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cmake_minimum_required(VERSION 3.14)
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project(autoware_utils_logging)
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find_package(autoware_cmake REQUIRED)
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autoware_package()
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ament_auto_add_library(${PROJECT_NAME} SHARED
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"src/logger_level_configure.cpp"
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)
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if(BUILD_TESTING)
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ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
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"test/main.cpp"
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"test/cases/logger_level_configure.cpp"
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)
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target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
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endif()
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ament_auto_package()

‎autoware_utils_logging/README.md

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# autoware_utils_logging
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## Overview
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The **autoware_utils** library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications.
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This package provides essential utilities for logging.
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It is extensively used in the Autoware project to handle common tasks such as configuring logger levels.
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## Design
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- **`logger_level_configure.hpp`**: Utility for configuring logger levels dynamically.

‎autoware_utils_logging/include/autoware_utils_logging/logger_level_configure.hpp

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// Copyright 2023 Tier IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// =============== Note ===============
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// This is a util class implementation of the logger_config_component provided by ROS 2
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// https://github.com/ros2/demos/blob/humble/logging_demo/src/logger_config_component.cpp
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//
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// When ROS 2 officially supports the set_logger_level option in release version, this class can be
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// removed.
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// https://github.com/ros2/ros2/issues/1355
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// =============== How to use ===============
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// ___In your_node.hpp___
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// #include "autoware/universe_utils/ros/logger_level_configure.hpp"
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// class YourNode : public rclcpp::Node {
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// ...
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//
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// // Define logger_configure as a node class member variable
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// std::unique_ptr<autoware::universe_utils::LoggerLevelConfigure> logger_configure_;
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// }
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//
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// ___In your_node.cpp___
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// YourNode::YourNode() {
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// ...
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//
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// // Set up logger_configure
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// logger_configure_ = std::make_unique<LoggerLevelConfigure>(this);
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// }
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#ifndef AUTOWARE_UTILS_LOGGING__LOGGER_LEVEL_CONFIGURE_HPP_
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#define AUTOWARE_UTILS_LOGGING__LOGGER_LEVEL_CONFIGURE_HPP_
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#include <logging_demo/srv/config_logger.hpp>
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#include <rclcpp/rclcpp.hpp>
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namespace autoware_utils_logging
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{
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class LoggerLevelConfigure
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{
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private:
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using ConfigLogger = logging_demo::srv::ConfigLogger;
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public:
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explicit LoggerLevelConfigure(rclcpp::Node * node);
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private:
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rclcpp::Logger ros_logger_;
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rclcpp::Service<ConfigLogger>::SharedPtr srv_config_logger_;
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void on_logger_config_service(
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const ConfigLogger::Request::SharedPtr request,
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const ConfigLogger::Response::SharedPtr response);
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};
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} // namespace autoware_utils_logging
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#endif // AUTOWARE_UTILS_LOGGING__LOGGER_LEVEL_CONFIGURE_HPP_

‎autoware_utils_logging/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>autoware_utils_logging</name>
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<version>1.1.0</version>
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<description>The autoware_utils_logging package</description>
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<maintainer email="egon.kang@autocore.ai">Jian Kang</maintainer>
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<maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
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<maintainer email="esteve.fernandez@tier4.jp">Esteve Fernandez</maintainer>
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<maintainer email="yutaka.kondo@tier4.jp">Yutaka Kondo</maintainer>
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<maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<buildtool_depend>autoware_cmake</buildtool_depend>
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<depend>logging_demo</depend>
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<depend>rclcpp</depend>
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<test_depend>ament_cmake_ros</test_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>autoware_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎autoware_utils/src/ros/logger_level_configure.cpp ‎autoware_utils_logging/src/logger_level_configure.cpp

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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "autoware_utils/ros/logger_level_configure.hpp"
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#include "autoware_utils_logging/logger_level_configure.hpp"
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#include <rcutils/logging.h>
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namespace autoware_utils
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namespace autoware_utils_logging
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{
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LoggerLevelConfigure::LoggerLevelConfigure(rclcpp::Node * node) : ros_logger_(node->get_logger())
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{
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using std::placeholders::_1;
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return;
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}
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} // namespace autoware_utils
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} // namespace autoware_utils_logging

‎autoware_utils_logging/test/cases/logger_level_configure.cpp

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// Copyright 2025 The Autoware Contributors
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "autoware_utils_logging/logger_level_configure.hpp"
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#include <gtest/gtest.h>
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#include <memory>
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class LoggerLevelConfigureNode : public rclcpp::Node
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{
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public:
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using LoggerLevelConfigure = autoware_utils_logging::LoggerLevelConfigure;
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LoggerLevelConfigureNode() : rclcpp::Node("__auto__")
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{
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logger_configure_ = std::make_unique<LoggerLevelConfigure>(this);
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}
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private:
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std::unique_ptr<LoggerLevelConfigure> logger_configure_;
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};
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TEST(TestLoggerLevelConfigure, Instantiation)
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{
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const auto node = std::make_shared<LoggerLevelConfigureNode>();
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}

‎autoware_utils_logging/test/main.cpp

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// Copyright 2025 The Autoware Contributors
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
13+
// limitations under the License.
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#include <rclcpp/rclcpp.hpp>
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#include <gtest/gtest.h>
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class RclcppEnvironment : public testing::Environment
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{
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public:
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RclcppEnvironment(int argc, char ** argv) : argc(argc), argv(argv) {}
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void SetUp() override { rclcpp::init(argc, argv); }
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void TearDown() override { rclcpp::shutdown(); }
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private:
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int argc;
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char ** argv;
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};
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int main(int argc, char ** argv)
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{
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testing::InitGoogleTest(&argc, argv);
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testing::AddGlobalTestEnvironment(new RclcppEnvironment(argc, argv));
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return RUN_ALL_TESTS();
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}

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