rosjava set log level to WARN

Question

I wrote a ROS node using rosjava. When it starts up, there are a few logging outputs like:

Loading node class: MyApp.RosWrapper
Jun 18, 2015 3:12:39 PM org.ros.internal.node.client.Registrar <init>
INFO: MasterXmlRpcEndpoint URI: http://localhost:11311
Jun 18, 2015 3:12:39 PM org.ros.internal.node.client.Registrar onPublisherAdded
INFO: Registering publisher: Publisher<PublisherDefinition<PublisherIdentifier<NodeIdentifier</mynode, http://127.0.0.1:39009/>, TopicIdentifier</rosout>>, Topic<TopicIdentifier</rosout>, TopicDescription<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>

I've found out that rosjava uses the org.apache.commons.logging.Log approach (see https://github.com/rosjava/rosjava_core/blob/indigo/rosjava/src/main/java/org/ros/internal/node/client/Registrar.java#L54)

To configure this, you should normally put a file called commons-logging.properties in your Classpath. I tried to add the folder containing this file to the classpath, but nothing changed.

UPDATE:

I found out that by default rosjava uses the Jdk14Logger class.

How can I decrease the log-level to e.g. WARN? Where do I have to put the corresponding config files?

Answer 1

Disclaimer: As stated in the comment, this does not work for rosjava and therefore does not answer the question. I do not delete the post, however, to keep records that this has already been tried.

Permanent setting

To permanently modify the log-level, create a file and add something like the following:

# Set the default ros output to warning and higher
log4j.logger.ros=WARN
# Override my package to output everything
log4j.logger.ros.my_package_name=DEBUG

For ROS to use this file, you have to define the environment ROSCONSOLE_CONFIG_FILE and set it to the path of your file. This can be done by adding the following line to ~/.bashrc:

export ROSCONSOLE_CONFIG_FILE=/path/to/config_file

See also the ROS wiki about rosconsole configuration.

Temporary setting

If you only want to temporarily change the log-level for a currently running node, you can use the tool rqt_logger_level. This will start a GUI where you can change the log-level for each running node. The settings are not stored, however, so it will be lost after restarting the node.

Answer 2

To manage the log levels for any ROSJava project, create a file like this one:

log-config.properties

# The following creates two handlers
handlers=java.util.logging.ConsoleHandler, java.util.logging.FileHandler
# Set the default logging level for the root logger
.level=ALL
# log level for the "com.example" package
org.ros.logging.level=ALL
# Set the default logging level
java.util.logging.ConsoleHandler.level=ALL
java.util.logging.FileHandler.level=ALL
# Set the default formatter
java.util.logging.ConsoleHandler.formatter=java.util.logging.SimpleFormatter
java.util.logging.FileHandler.formatter=java.util.logging.SimpleFormatter
# Specify the location and name of the log file
java.util.logging.FileHandler.pattern=/home/robot/test.log

and later, load the configuration in the execution:

java -Djava.util.logging.config.file=/home/robot/log-config.properties -jar rosjava-helloworld-0.1.0-SNAPSHOT-all.jar 

Juan Antonio