Issue #38: Add logging verbosity parameter

launch/launch_hw.launch.py

@@ -14,6 +14,8 @@ def generate_launch_description():
     ecu_port = LaunchConfiguration('ecu_port')
     rpi_port = LaunchConfiguration('rpi_port')
 
+    log_level = LaunchConfiguration('log_level', default='info')
+
     ld = LaunchDescription([
         DeclareLaunchArgument(
             'ecu_ip',
@@ -32,6 +34,14 @@ def generate_launch_description():
         )
     ])
 
+    log_level_arg = DeclareLaunchArgument(
+        'log_level',
+        default_value='info',
+        description='Logging level (debug, info, warn, error, fatal)'
+    )
+
+    ld.add_action(log_level_arg)
+
     # Package paths
     package_name = 'kpi_rover'
     pkg_share = get_package_share_directory(package_name)
@@ -59,6 +69,7 @@ def generate_launch_description():
         package='robot_state_publisher',
         executable='robot_state_publisher',
         parameters=[{'robot_description': robot_description}],
+        arguments=['--ros-args', '--log-level', log_level],
         output='screen'
     ))
 
@@ -73,6 +84,7 @@ def generate_launch_description():
             {'ecu_port': ecu_port},
             {'rpi_port': rpi_port}
         ],
+        arguments=['--ros-args', '--log-level', log_level],
         output='screen'
     )
     ld.add_action(controller_manager)
@@ -84,19 +96,19 @@ def generate_launch_description():
             Node(
                 package='controller_manager',
                 executable='spawner',
-                arguments=['joint_state_broadcaster'],
+                arguments=['joint_state_broadcaster', '--ros-args', '--log-level', log_level],
                 output='screen'
             ),
             Node(
                 package='controller_manager',
                 executable='spawner',
-                arguments=['diff_drive_controller'],
+                arguments=['diff_drive_controller', '--ros-args', '--log-level', log_level],
                 output='screen'
             ),
             Node(
                 package="controller_manager",
                 executable="spawner",
-                arguments=["imu_broadcaster"],
+                arguments=["imu_broadcaster", '--ros-args', '--log-level', log_level],
             )   
         ]
     )

launch/launch_irl_base_station.launch.py

@@ -0,0 +1,86 @@
+"""
+Launch file for the KPIRover running on real hardware (RPI, lidar, camera, motors with encoders).
+
+
+This file launches the following components:
+- ROS2 control system for motors with joystick control.
+- EKF node for sensor fusion and localization.
+- SLAM toolbox for online asynchronous mapping.
+- Navigation stack for path planning.
+
+
+"""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+# Define the common clock parameter (not using simulation)
+use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+
+log_level = LaunchConfiguration('log_level', default='info')
+
+package_name = 'kpi_rover'
+
+ld = LaunchDescription()
+ld.add_action(DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'))
+
+log_level_arg = DeclareLaunchArgument(
+    'log_level',
+    default_value='info',
+    description='Logging level (debug, info, warn, error, fatal)'
+)
+
+ld.add_action(log_level_arg)
+
+# Launch the EKF node for sensor fusion and localization.
+# It fuses sensor data (e.g., IMU, odometry) to estimate the robot's pose.
+ekf = Node(
+    package='robot_localization',
+    executable='ekf_node',
+    name='ekf_filter_node',
+    output='screen',
+    parameters=[
+        os.path.join(get_package_share_directory(package_name), 'config', 'ekf.yaml'),
+        {'use_sim_time': use_sim_time},
+    ],
+    arguments=['--ros-args', '--log-level', log_level]
+)
+
+# Launch the SLAM toolbox for online asynchronous mapping.
+# It builds a map of the environment from sensor data.
+slam_toolbox_map = IncludeLaunchDescription(
+    PythonLaunchDescriptionSource(
+        os.path.join(get_package_share_directory('slam_toolbox'), 'launch', 'online_async_launch.py')
+    ),
+    launch_arguments={
+        'slam_params_file': os.path.join(get_package_share_directory(package_name), 'config', 'slam_toolbox_mapping.yaml'),
+        'use_sim_time': use_sim_time,
+        'log_level': log_level,
+    }.items()
+)
+
+# Launch the navigation stack.
+# Provides path planning and obstacle avoidance for autonomous robot movement.
+nav = IncludeLaunchDescription(
+    PythonLaunchDescriptionSource(
+        os.path.join(get_package_share_directory(package_name), 'launch', 'navigation.launch.py')
+    ),
+    launch_arguments={
+        'use_sim_time': use_sim_time,
+        'log_level': log_level,
+    }.items()
+)
+
+# Add all components into the LaunchDescription in the desired sequence.
+
+ld.add_action(ekf)                    # Run EKF for sensor fusion and localization.
+ld.add_action(slam_toolbox_map)       # Run SLAM toolkit for mapping.
+ld.add_action(nav)                    # Start navigation stack.
+def generate_launch_description():
+    return ld

launch/launch_irl.launch.py → launch/launch_irl_rpi.launch.py

@@ -28,11 +28,13 @@
 ecu_port = LaunchConfiguration('ecu_port')
 udp_port = LaunchConfiguration('udp_port')
 
+log_level = LaunchConfiguration('log_level', default='info')
+
 package_name = 'kpi_rover'
 
 ld = LaunchDescription()
 ld.add_action(DeclareLaunchArgument('use_sim_time', default_value='false', description='Use simulation (Gazebo) clock if true'))
-ld = LaunchDescription([
+ld.add_action(LaunchDescription([
         DeclareLaunchArgument(
             'ecu_ip',
             default_value='10.30.30.30',
@@ -49,12 +51,24 @@
             description='Port number of the UDP server to listen for IMU data from ECU'
         )
     ])
+)
+
+log_level_arg = DeclareLaunchArgument(
+    'log_level',
+    default_value='info',
+    description='Logging level (debug, info, warn, error, fatal)'
+)
+
+ld.add_action(log_level_arg)
 
 # Launch lidar node from cspc_lidar package
 lidar = IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory('cspc_lidar'), 'launch', 'lidar.launch.py')
-            )
+            ),
+            launch_arguments={
+                'log_level': log_level
+            }.items()
         )       
 # Launch ros2_control system for driving real motors
 motors_control =  IncludeLaunchDescription(
@@ -65,44 +79,11 @@
         'use_sim_time': use_sim_time,
         'ecu_ip': ecu_ip,
         'ecu_port': ecu_port,
-        'udp_port': udp_port
-    }.items()
-)
-
-# Launch the EKF node for sensor fusion and localization.
-# It fuses sensor data (e.g., IMU, odometry) to estimate the robot's pose.
-ekf = Node(
-    package='robot_localization',
-    executable='ekf_node',
-    name='ekf_filter_node',
-    output='screen',
-    parameters=[
-        os.path.join(get_package_share_directory(package_name), 'config', 'ekf.yaml'),
-        {'use_sim_time': use_sim_time},
-    ]
-)
-
-# Launch the SLAM toolbox for online asynchronous mapping.
-# It builds a map of the environment from sensor data.
-slam_toolbox_map = IncludeLaunchDescription(
-    PythonLaunchDescriptionSource(
-        os.path.join(get_package_share_directory('slam_toolbox'), 'launch', 'online_async_launch.py')
-    ),
-    launch_arguments={
-        'slam_params_file': os.path.join(get_package_share_directory(package_name), 'config', 'slam_toolbox_mapping.yaml'),
-        'use_sim_time': use_sim_time
+        'udp_port': udp_port,
+        'log_level': log_level,
     }.items()
 )
 
-# Launch the navigation stack.
-# Provides path planning and obstacle avoidance for autonomous robot movement.
-nav = IncludeLaunchDescription(
-    PythonLaunchDescriptionSource(
-        os.path.join(get_package_share_directory(package_name), 'launch', 'navigation.launch.py')
-    ),
-    launch_arguments={'use_sim_time': use_sim_time}.items()
-)
-
 # Launch camera node.
 camera = Node(
     package='v4l2_camera',
@@ -113,17 +94,15 @@
         'image_size': [320, 240],
         'video_device':"/dev/video0",
         'output_encoding': "yuv422_yuy2"}],
+    arguments=['--ros-args', '--log-level', log_level],
     remappings=[('/image_raw','/camera/image_raw')]
 
 )
 
 # Add all components into the LaunchDescription in the desired sequence.
 
 ld.add_action(motors_control)         # Start all nodes for motors control.
-ld.add_action(ekf)                    # Run EKF for sensor fusion and localization.
 ld.add_action(lidar)                  # Run lidar node
-ld.add_action(slam_toolbox_map)       # Run SLAM toolkit for mapping.
-ld.add_action(nav)                    # Start navigation stack.
 ld.add_action(camera)                 # Start publishing images from camera.
 def generate_launch_description():
     return ld

launch/launch_sim.launch.py

@@ -26,12 +26,22 @@
 # Define the common simulation clock parameter
 use_sim_time = LaunchConfiguration('use_sim_time', default='true')
 
+log_level = LaunchConfiguration('log_level', default='info')
+
 package_name = 'kpi_rover'
 ros_gz_sim = get_package_share_directory('ros_gz_sim')
 
 ld = LaunchDescription()
 ld.add_action(DeclareLaunchArgument('use_sim_time', default_value='true', description='Use simulation (Gazebo) clock if true'))
 
+log_level_arg = DeclareLaunchArgument(
+    'log_level',
+    default_value='info',
+    description='Logging level (debug, info, warn, error, fatal)'
+)
+
+ld.add_action(log_level_arg)
+
 # Launch Gazebo simulation server with the specified world file.
 # This starts the simulation environment.
 world = os.path.join(
@@ -45,7 +55,8 @@
     ),
     launch_arguments={
         'gz_args': ['-r -s -v4 ', world],
-        'on_exit_shutdown': 'true'
+        'on_exit_shutdown': 'true',
+        'log_level': log_level,
     }.items()
 )
 
@@ -57,7 +68,8 @@
     ),
     launch_arguments={
         'use_sim_time': use_sim_time,
-        'use_ros2_control': 'true'
+        'use_ros2_control': 'true',
+        'log_level': log_level,
     }.items()
 )
 
@@ -70,21 +82,22 @@
     launch_arguments={
         'x_pose': LaunchConfiguration('x_pose', default='0'),
         'y_pose': LaunchConfiguration('y_pose', default='0'),
-        'z_pose': LaunchConfiguration('z_pose', default='0')
+        'z_pose': LaunchConfiguration('z_pose', default='0'),
+        'log_level': log_level,
     }.items()
 )
 
 # Load the Joint State Broadcaster controller.
 # This controller publishes the joint states necessary for robot control.
 load_joint_state_broadcaster = ExecuteProcess(
-    cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'joint_state_broadcaster'],
+    cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'joint_state_broadcaster', '--ros-args', '--log-level', log_level],
     output='screen'
 )
 
 # Load the Differential Drive controller.
 # This controller converts velocity commands into motor commands for robot maneuvering.
 load_diff_drive_controller = ExecuteProcess(
-    cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'diff_drive_controller'],
+    cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'diff_drive_controller', '--ros-args', '--log-level', log_level],
     output='screen'
 )
 
@@ -98,7 +111,8 @@
     parameters=[
         os.path.join(get_package_share_directory(package_name), 'config', 'ekf.yaml'),
         {'use_sim_time': use_sim_time},
-    ]
+    ],
+    arguments=['--ros-args', '--log-level', log_level]
 )
 
 # Launch the SLAM toolbox for online asynchronous mapping.
@@ -109,7 +123,8 @@
     ),
     launch_arguments={
         'slam_params_file': os.path.join(get_package_share_directory(package_name), 'config', 'slam_toolbox_mapping.yaml'),
-        'use_sim_time': use_sim_time
+        'use_sim_time': use_sim_time,
+        'log_level': log_level,
     }.items()
 )
 
@@ -119,7 +134,10 @@
     PythonLaunchDescriptionSource(
         os.path.join(get_package_share_directory(package_name), 'launch', 'navigation.launch.py')
     ),
-    launch_arguments={'use_sim_time': use_sim_time}.items()
+    launch_arguments={
+        'use_sim_time': use_sim_time,
+        'log_level': log_level,
+    }.items()
 )
 
 # Include the Gazebo UI .
@@ -128,7 +146,10 @@
     PythonLaunchDescriptionSource(
         os.path.join(get_package_share_directory(package_name), 'launch', 'launch_sim_ui.launch.py')
     ),
-    launch_arguments={'use_sim_time': use_sim_time}.items()
+    launch_arguments={
+        'use_sim_time': use_sim_time,
+        'log_level': log_level,
+    }.items()
 )
 
 # Add all components into the LaunchDescription in the desired sequence.