feat(autoware_utils_logging): split package

autoware_utils/README.md

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

autoware_utils/include/autoware_utils/ros/logger_level_configure.hpp

@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2025 The Autoware Contributors
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,57 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-// =============== Note ===============
-// This is a util class implementation of the logger_config_component provided by ROS 2
-// https://github.com/ros2/demos/blob/humble/logging_demo/src/logger_config_component.cpp
-//
-// When ROS 2 officially supports the set_logger_level option in release version, this class can be
-// removed.
-// https://github.com/ros2/ros2/issues/1355
-
-// =============== How to use ===============
-// ___In your_node.hpp___
-// #include "autoware/universe_utils/ros/logger_level_configure.hpp"
-// class YourNode : public rclcpp::Node {
-//   ...
-//
-//   // Define logger_configure as a node class member variable
-//   std::unique_ptr<autoware::universe_utils::LoggerLevelConfigure> logger_configure_;
-// }
-//
-// ___In your_node.cpp___
-// YourNode::YourNode() {
-//   ...
-//
-//   // Set up logger_configure
-//   logger_configure_ = std::make_unique<LoggerLevelConfigure>(this);
-// }
-
 #ifndef AUTOWARE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_
 #define AUTOWARE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_
 
-#include "logging_demo/srv/config_logger.hpp"
-
-#include <rclcpp/rclcpp.hpp>
-
-namespace autoware_utils
-{
-class LoggerLevelConfigure
-{
-private:
-  using ConfigLogger = logging_demo::srv::ConfigLogger;
-
-public:
-  explicit LoggerLevelConfigure(rclcpp::Node * node);
+// NOLINTBEGIN(build/namespaces, whitespace/line_length)
+// clang-format off
 
-private:
-  rclcpp::Logger ros_logger_;
-  rclcpp::Service<ConfigLogger>::SharedPtr srv_config_logger_;
+#pragma message("#include <autoware_utils/ros/logger_level_configure.hpp> is deprecated. Use #include <autoware_utils_logging/logger_level_configure.hpp> instead.")
+#include <autoware_utils_logging/logger_level_configure.hpp>
+namespace autoware_utils { using namespace autoware_utils_logging; }
 
-  void on_logger_config_service(
-    const ConfigLogger::Request::SharedPtr request,
-    const ConfigLogger::Response::SharedPtr response);
-};
+// clang-format on
+// NOLINTEND
 
-}  // namespace autoware_utils
 #endif  // AUTOWARE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_

autoware_utils/package.xml

@@ -20,6 +20,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_utils_geometry</depend>
+  <depend>autoware_utils_logging</depend>
   <depend>autoware_utils_math</depend>
   <depend>autoware_utils_pcl</depend>
   <depend>autoware_utils_visualization</depend>
@@ -28,7 +29,6 @@
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>libboost-system-dev</depend>
-  <depend>logging_demo</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>

autoware_utils_logging/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.14)
+project(autoware_utils_logging)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  "src/logger_level_configure.cpp"
+)
+
+if(BUILD_TESTING)
+  ament_add_ros_isolated_gtest(test_${PROJECT_NAME}
+    "test/main.cpp"
+    "test/cases/logger_level_configure.cpp"
+  )
+  target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME})
+endif()
+
+ament_auto_package()

autoware_utils_logging/README.md

@@ -0,0 +1,11 @@
+# autoware_utils_logging
+
+## Overview
+
+The **autoware_utils** library is a comprehensive toolkit designed to facilitate the development of autonomous driving applications.
+This package provides essential utilities for logging.
+It is extensively used in the Autoware project to handle common tasks such as configuring logger levels.
+
+## Design
+
+- **`logger_level_configure.hpp`**: Utility for configuring logger levels dynamically.

autoware_utils_logging/include/autoware_utils_logging/logger_level_configure.hpp

@@ -0,0 +1,69 @@
+// Copyright 2023 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// =============== Note ===============
+// This is a util class implementation of the logger_config_component provided by ROS 2
+// https://github.com/ros2/demos/blob/humble/logging_demo/src/logger_config_component.cpp
+//
+// When ROS 2 officially supports the set_logger_level option in release version, this class can be
+// removed.
+// https://github.com/ros2/ros2/issues/1355
+
+// =============== How to use ===============
+// ___In your_node.hpp___
+// #include "autoware/universe_utils/ros/logger_level_configure.hpp"
+// class YourNode : public rclcpp::Node {
+//   ...
+//
+//   // Define logger_configure as a node class member variable
+//   std::unique_ptr<autoware::universe_utils::LoggerLevelConfigure> logger_configure_;
+// }
+//
+// ___In your_node.cpp___
+// YourNode::YourNode() {
+//   ...
+//
+//   // Set up logger_configure
+//   logger_configure_ = std::make_unique<LoggerLevelConfigure>(this);
+// }
+
+#ifndef AUTOWARE_UTILS_LOGGING__LOGGER_LEVEL_CONFIGURE_HPP_
+#define AUTOWARE_UTILS_LOGGING__LOGGER_LEVEL_CONFIGURE_HPP_
+
+#include <logging_demo/srv/config_logger.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+namespace autoware_utils_logging
+{
+
+class LoggerLevelConfigure
+{
+private:
+  using ConfigLogger = logging_demo::srv::ConfigLogger;
+
+public:
+  explicit LoggerLevelConfigure(rclcpp::Node * node);
+
+private:
+  rclcpp::Logger ros_logger_;
+  rclcpp::Service<ConfigLogger>::SharedPtr srv_config_logger_;
+
+  void on_logger_config_service(
+    const ConfigLogger::Request::SharedPtr request,
+    const ConfigLogger::Response::SharedPtr response);
+};
+
+}  // namespace autoware_utils_logging
+
+#endif  // AUTOWARE_UTILS_LOGGING__LOGGER_LEVEL_CONFIGURE_HPP_

autoware_utils_logging/package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_utils_logging</name>
+  <version>1.1.0</version>
+  <description>The autoware_utils_logging package</description>
+  <maintainer email="egon.kang@autocore.ai">Jian Kang</maintainer>
+  <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
+  <maintainer email="esteve.fernandez@tier4.jp">Esteve Fernandez</maintainer>
+  <maintainer email="yutaka.kondo@tier4.jp">Yutaka Kondo</maintainer>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>logging_demo</depend>
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_cmake_ros</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

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

@@ -12,12 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "autoware_utils/ros/logger_level_configure.hpp"
+#include "autoware_utils_logging/logger_level_configure.hpp"
 
 #include <rcutils/logging.h>
 
-namespace autoware_utils
+namespace autoware_utils_logging
 {
+
 LoggerLevelConfigure::LoggerLevelConfigure(rclcpp::Node * node) : ros_logger_(node->get_logger())
 {
   using std::placeholders::_1;
@@ -58,4 +59,4 @@ void LoggerLevelConfigure::on_logger_config_service(
   return;
 }
 
-}  // namespace autoware_utils
+}  // namespace autoware_utils_logging

autoware_utils_logging/test/cases/logger_level_configure.cpp

@@ -0,0 +1,38 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "autoware_utils_logging/logger_level_configure.hpp"
+
+#include <gtest/gtest.h>
+
+#include <memory>
+
+class LoggerLevelConfigureNode : public rclcpp::Node
+{
+public:
+  using LoggerLevelConfigure = autoware_utils_logging::LoggerLevelConfigure;
+
+  LoggerLevelConfigureNode() : rclcpp::Node("__auto__")
+  {
+    logger_configure_ = std::make_unique<LoggerLevelConfigure>(this);
+  }
+
+private:
+  std::unique_ptr<LoggerLevelConfigure> logger_configure_;
+};
+
+TEST(TestLoggerLevelConfigure, Instantiation)
+{
+  const auto node = std::make_shared<LoggerLevelConfigureNode>();
+}

autoware_utils_logging/test/main.cpp

@@ -0,0 +1,36 @@
+// Copyright 2025 The Autoware Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <gtest/gtest.h>
+
+class RclcppEnvironment : public testing::Environment
+{
+public:
+  RclcppEnvironment(int argc, char ** argv) : argc(argc), argv(argv) {}
+  void SetUp() override { rclcpp::init(argc, argv); }
+  void TearDown() override { rclcpp::shutdown(); }
+
+private:
+  int argc;
+  char ** argv;
+};
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  testing::AddGlobalTestEnvironment(new RclcppEnvironment(argc, argv));
+  return RUN_ALL_TESTS();
+}