Add per composable node log_level support

launch_ros/launch_ros/actions/load_composable_nodes.py

@@ -40,6 +40,7 @@
 from launch_ros.parameter_descriptions import ParameterFile
 
 import lifecycle_msgs.msg
+import rcl_interfaces.msg
 
 from .composable_node_container import ComposableNodeContainer
 from .lifecycle_transition import LifecycleTransition
@@ -321,7 +322,6 @@ def get_composable_node_load_request(
     combined_ns = make_namespace_absolute(prefix_namespace(base_ns, expanded_ns))
     if combined_ns is not None:
         request.node_namespace = combined_ns
-    # request.log_level = perform_substitutions(context, node_description.log_level)
     remappings = []
     global_remaps = context.launch_configurations.get('ros_remaps', None)
     if global_remaps:
@@ -366,4 +366,18 @@ def get_composable_node_load_request(
                 )
             )
         ]
+
+    if composable_node_description.log_level is not None:
+        log_level_str = perform_substitutions(
+            context, composable_node_description.log_level).upper()
+        log_level_map = {
+            'DEBUG': rcl_interfaces.msg.Log.DEBUG,
+            'INFO': rcl_interfaces.msg.Log.INFO,
+            'WARN': rcl_interfaces.msg.Log.WARN,
+            'WARNING': rcl_interfaces.msg.Log.WARN,
+            'ERROR': rcl_interfaces.msg.Log.ERROR,
+            'FATAL': rcl_interfaces.msg.Log.FATAL,
+        }
+        request.log_level = log_level_map.get(log_level_str, 0)
+
     return request

launch_ros/launch_ros/descriptions/composable_lifecycle_node.py

@@ -119,3 +119,8 @@ def remappings(self) -> Optional[RemapRules]:
     def extra_arguments(self) -> Optional[Parameters]:
         """Get container extra arguments YAML files or dicts with substitutions to be performed."""
         return super().extra_arguments
+
+    @property
+    def log_level(self) -> Optional[List[Substitution]]:
+        """Get log level as a sequence of substitutions to be performed."""
+        return super().log_level

launch_ros/launch_ros/descriptions/composable_node.py

@@ -45,6 +45,7 @@ def __init__(
         remappings: Optional[SomeRemapRules] = None,
         extra_arguments: Optional[SomeParameters] = None,
         condition: Optional[Condition] = None,
+        log_level: Optional[SomeSubstitutionsType] = None,
     ) -> None:
         """
         Initialize a ComposableNode description.
@@ -57,6 +58,7 @@ def __init__(
         :param remappings: list of from/to pairs for remapping names
         :param extra_arguments: container specific arguments to be passed to the loaded node
         :param condition: action will be executed if the condition evaluates to true
+        :param log_level: log level for the node (e.g. 'debug', 'info', 'warn', 'error', 'fatal')
         """
         self.__package = normalize_to_list_of_substitutions(package)
         self.__node_plugin = normalize_to_list_of_substitutions(plugin)
@@ -83,6 +85,10 @@ def __init__(
 
         self.__condition = condition
 
+        self.__log_level = None  # type: Optional[List[Substitution]]
+        if log_level is not None:
+            self.__log_level = normalize_to_list_of_substitutions(log_level)
+
     @classmethod
     def parse(cls, parser: Parser, entity: Entity):
         """Parse composable_node."""
@@ -138,6 +144,10 @@ def parse(cls, parser: Parser, entity: Entity):
             for extra_arg in extra_arguments:
                 extra_arg.assert_entity_completely_parsed()
 
+        log_level = entity.get_attr('log_level', optional=True)
+        if log_level is not None:
+            kwargs['log_level'] = parser.parse_substitution(log_level)
+
         return cls, kwargs
 
     @property
@@ -178,3 +188,8 @@ def extra_arguments(self) -> Optional[Parameters]:
     def condition(self) -> Optional[Condition]:
         """Getter for condition."""
         return self.__condition
+
+    @property
+    def log_level(self) -> Optional[List[Substitution]]:
+        """Get log level as a sequence of substitutions to be performed."""
+        return self.__log_level