Switch to RCLCPP loggers.

image_transport/include/image_transport/simple_publisher_plugin.h

@@ -35,6 +35,7 @@
 #ifndef IMAGE_TRANSPORT_SIMPLE_PUBLISHER_PLUGIN_H
 #define IMAGE_TRANSPORT_SIMPLE_PUBLISHER_PLUGIN_H
 
+#include <rclcpp/node.hpp>
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
 
@@ -82,7 +83,8 @@ class SimplePublisherPlugin : public PublisherPlugin
   virtual void publish(const sensor_msgs::msg::Image& message) const
   {
     if (!simple_impl_ || !simple_impl_->pub_) {
-      //RCLCPP_ERROR(simple_impl_->logger_, "Call to publish() on an invalid image_transport::SimplePublisherPlugin");
+      rclcpp::Logger logger = simple_impl_->node_->get_logger();
+      RCLCPP_ERROR(logger, "Call to publish() on an invalid image_transport::SimplePublisherPlugin");
       return;
     }
 
@@ -100,8 +102,8 @@ class SimplePublisherPlugin : public PublisherPlugin
     std::string transport_topic = getTopicToAdvertise(base_topic);
     simple_impl_.reset(new SimplePublisherPluginImpl(node));
 
-    //RCLCPP_DEBUG(simple_impl_->logger_, "getTopicToAdvertise: %s", transport_topic);
-
+    rclcpp::Logger logger = simple_impl_->node_->get_logger();
+    RCLCPP_DEBUG(logger, "getTopicToAdvertise: %s", transport_topic);
     simple_impl_->pub_ = node->create_publisher<M>(transport_topic, custom_qos);
   }
 
@@ -132,14 +134,12 @@ class SimplePublisherPlugin : public PublisherPlugin
   struct SimplePublisherPluginImpl
   {
     SimplePublisherPluginImpl(rclcpp::Node::SharedPtr node)
-      : node_(node),
-        logger_(rclcpp::get_logger("image_transport.publisher.simple_publisher_plugin"))
+      : node_(node)
     {
 
     }
 
     rclcpp::Node::SharedPtr node_;
-    rclcpp::Logger logger_;
     typename rclcpp::Publisher<M>::SharedPtr pub_;
   };
 

image_transport/src/camera_publisher.cpp

@@ -36,15 +36,17 @@
 #include "image_transport/camera_common.h"
 
 #include <rclcpp/expand_topic_or_service_name.hpp>
+#include <rclcpp/logging.hpp>
 #include <rclcpp/node.hpp>
 
 namespace image_transport
 {
 
 struct CameraPublisher::Impl
 {
-  Impl()
-  : unadvertised_(false)
+  Impl(rclcpp::Node::SharedPtr node)
+  : logger_(node->get_logger()) ,
+    unadvertised_(false)
   {
   }
 
@@ -68,6 +70,7 @@ struct CameraPublisher::Impl
     }
   }
 
+  rclcpp::Logger logger_;
   Publisher image_pub_;
   rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr info_pub_;
   bool unadvertised_;
@@ -78,7 +81,7 @@ CameraPublisher::CameraPublisher(
   rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos)
-: impl_(std::make_shared<Impl>())
+: impl_(std::make_shared<Impl>(node))
 {
   // Explicitly resolve name here so we compute the correct CameraInfo topic when the
   // image topic is remapped (#4539).
@@ -115,8 +118,7 @@ void CameraPublisher::publish(
   const sensor_msgs::msg::CameraInfo & info) const
 {
   if (!impl_ || !impl_->isValid()) {
-    // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
-    RCUTILS_LOG_ERROR("Call to publish() on an invalid image_transport::CameraPublisher");
+    RCLCPP_ERROR(impl_->logger_, "Call to publish() on an invalid image_transport::CameraPublisher");
     return;
   }
 
@@ -129,8 +131,7 @@ void CameraPublisher::publish(
   const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info) const
 {
   if (!impl_ || !impl_->isValid()) {
-    // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
-    RCUTILS_LOG_ERROR("Call to publish() on an invalid image_transport::CameraPublisher");
+    RCLCPP_ERROR(impl_->logger_, "Call to publish() on an invalid image_transport::CameraPublisher");
     return;
   }
 

image_transport/src/camera_subscriber.cpp

@@ -52,8 +52,9 @@ struct CameraSubscriber::Impl
   using CameraInfo = sensor_msgs::msg::CameraInfo;
   using TimeSync = message_filters::TimeSynchronizer<Image, CameraInfo>;
 
-  Impl()
-  : sync_(10),
+  Impl(rclcpp::Node::SharedPtr node)
+  : logger_(node->get_logger()) ,
+    sync_(10),
     unsubscribed_(false),
     image_received_(0), info_received_(0), both_received_(0)
   {
@@ -84,18 +85,19 @@ struct CameraSubscriber::Impl
     int threshold = 3 * both_received_;
     if (image_received_ > threshold || info_received_ > threshold) {
 
-      RCUTILS_LOG_WARN_NAMED("sync", // Can suppress ros.image_transport.sync independent of anything else
-                             "[image_transport] Topics '%s' and '%s' do not appear to be synchronized. "
-                             "In the last 10s:\n"
-                             "\tImage messages received:      %d\n"
-                             "\tCameraInfo messages received: %d\n"
-                             "\tSynchronized pairs:           %d",
-                             image_sub_.getTopic().c_str(), info_sub_.getTopic().c_str(),
-                             image_received_, info_received_, both_received_);
+      RCLCPP_WARN(logger_,
+        "[image_transport] Topics '%s' and '%s' do not appear to be synchronized. "
+        "In the last 10s:\n"
+        "\tImage messages received:      %d\n"
+        "\tCameraInfo messages received: %d\n"
+        "\tSynchronized pairs:           %d",
+        image_sub_.getTopic().c_str(), info_sub_.getTopic().c_str(),
+        image_received_, info_received_, both_received_);
     }
     image_received_ = info_received_ = both_received_ = 0;
   }
 
+  rclcpp::Logger logger_;
   SubscriberFilter image_sub_;
   message_filters::Subscriber<CameraInfo> info_sub_;
   TimeSync sync_;
@@ -110,9 +112,9 @@ CameraSubscriber::CameraSubscriber(
   rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
   const Callback & callback,
-  const std::string& transport,
+  const std::string & transport,
   rmw_qos_profile_t custom_qos)
-: impl_(std::make_shared<Impl>())
+: impl_(std::make_shared<Impl>(node))
 {
   // Must explicitly remap the image topic since we then do some string manipulation on it
   // to figure out the sibling camera_info topic.
@@ -132,18 +134,18 @@ CameraSubscriber::CameraSubscriber(
   impl_->sync_.registerCallback(std::bind(increment, &impl_->both_received_));
 
   impl_->check_synced_timer_ = node->create_wall_timer(std::chrono::seconds(1),
-                                                      std::bind(&Impl::checkImagesSynchronized, impl_.get()));
+      std::bind(&Impl::checkImagesSynchronized, impl_.get()));
 }
 
 std::string CameraSubscriber::getTopic() const
 {
-  if (impl_) return impl_->image_sub_.getTopic();
+  if (impl_) {return impl_->image_sub_.getTopic();}
   return std::string();
 }
 
 std::string CameraSubscriber::getInfoTopic() const
 {
-  if (impl_) return impl_->info_sub_.getSubscriber()->get_topic_name();
+  if (impl_) {return impl_->info_sub_.getSubscriber()->get_topic_name();}
   return std::string();
 }
 
@@ -157,7 +159,7 @@ uint32_t CameraSubscriber::getNumPublishers() const
 
 std::string CameraSubscriber::getTransport() const
 {
-  if (impl_) return impl_->image_sub_.getTransport();
+  if (impl_) {return impl_->image_sub_.getTransport();}
   return std::string();
 }
 

image_transport/src/publisher.cpp

@@ -47,8 +47,9 @@ namespace image_transport
 
 struct Publisher::Impl
 {
-  Impl()
-  : unadvertised_(false)
+  Impl(rclcpp::Node::SharedPtr node)
+  : logger_(node->get_logger()),
+    unadvertised_(false)
   {
   }
 
@@ -87,6 +88,7 @@ struct Publisher::Impl
     }
   }
 
+  rclcpp::Logger logger_;
   std::string base_topic_;
   PubLoaderPtr loader_;
   std::vector<std::shared_ptr<PublisherPlugin>> publishers_;
@@ -96,7 +98,7 @@ struct Publisher::Impl
 Publisher::Publisher(
   rclcpp::Node::SharedPtr node, const std::string & base_topic,
   PubLoaderPtr loader, rmw_qos_profile_t custom_qos)
-: impl_(std::make_shared<Impl>())
+: impl_(std::make_shared<Impl>(node))
 {
   // Resolve the name explicitly because otherwise the compressed topics don't remap
   // properly (#3652).
@@ -122,7 +124,7 @@ Publisher::Publisher(
       pub->advertise(node, image_topic, custom_qos);
       impl_->publishers_.push_back(std::move(pub));
     } catch (const std::runtime_error & e) {
-      RCUTILS_LOG_ERROR("Failed to load plugin %s, error string: %s\n",
+      RCLCPP_ERROR(impl_->logger_, "Failed to load plugin %s, error string: %s\n",
         lookup_name.c_str(), e.what());
     }
   }
@@ -148,7 +150,7 @@ std::string Publisher::getTopic() const
 void Publisher::publish(const sensor_msgs::msg::Image & message) const
 {
   if (!impl_ || !impl_->isValid()) {
-    RCUTILS_LOG_ERROR("Call to publish() on an invalid image_transport::Publisher\n");
+    RCLCPP_ERROR(impl_->logger_, "Call to publish() on an invalid image_transport::Publisher");
     return;
   }
 
@@ -162,7 +164,7 @@ void Publisher::publish(const sensor_msgs::msg::Image & message) const
 void Publisher::publish(const sensor_msgs::msg::Image::ConstSharedPtr & message) const
 {
   if (!impl_ || !impl_->isValid()) {
-    fprintf(stderr, "Call to publish() on an invalid image_transport::Publisher\n");
+    RCLCPP_ERROR(impl_->logger_, "Call to publish() on an invalid image_transport::Publisher");
     return;
   }
 

image_transport/src/subscriber.cpp

@@ -47,9 +47,9 @@ namespace image_transport
 
 struct Subscriber::Impl
 {
-  Impl(SubLoaderPtr loader)
-  : loader_(loader),
-    logger_(rclcpp::get_logger("image_transport.subscriber")),
+  Impl(rclcpp::Node::SharedPtr node, SubLoaderPtr loader)
+  : logger_(node->get_logger()),
+    loader_(loader),
     unsubscribed_(false)
   {
   }
@@ -74,10 +74,10 @@ struct Subscriber::Impl
     }
   }
 
+  rclcpp::Logger logger_;
   std::string lookup_name_;
   SubLoaderPtr loader_;
   std::shared_ptr<SubscriberPlugin> subscriber_;
-  rclcpp::Logger logger_;
   bool unsubscribed_;
   //double constructed_;
 };
@@ -89,7 +89,7 @@ Subscriber::Subscriber(
   SubLoaderPtr loader,
   const std::string& transport,
   rmw_qos_profile_t custom_qos)
-: impl_(std::make_shared<Impl>(loader))
+: impl_(std::make_shared<Impl>(node, loader))
 {
   // Load the plugin for the chosen transport.
   impl_->lookup_name_ = SubscriberPlugin::getLookupName(transport);