Feat/change nodes log level

common/component_interface_tools/launch/service_log_checker.launch.xml

@@ -1,3 +1,5 @@
 <launch>
-  <node pkg="component_interface_tools" exec="service_log_checker_node"/>
+  <arg name="log_level" default="WARN"/>
+
+  <node pkg="component_interface_tools" exec="service_log_checker_node"   ros_args="--log-level $(var log_level)"/>
 </launch>

evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml

@@ -4,10 +4,11 @@
   <arg name="input/reference_trajectory" default="/planning/scenario_planning/lane_driving/motion_planning/path_optimizer/trajectory"/>
   <arg name="input/objects" default="/perception/object_recognition/objects"/>
   <arg name="input/modified_goal" default="/planning/scenario_planning/modified_goal"/>
+  <arg name="log_level" default="WARN"/>
 
   <!-- planning evaluator -->
   <group>
-    <node name="planning_evaluator" exec="planning_evaluator" pkg="autoware_planning_evaluator">
+    <node name="planning_evaluator" exec="planning_evaluator" pkg="autoware_planning_evaluator" ros_args="--log-level $(var log_level)">
       <param from="$(find-pkg-share autoware_planning_evaluator)/param/planning_evaluator.defaults.yaml"/>
       <remap from="~/input/odometry" to="$(var input/odometry)"/>
       <remap from="~/input/trajectory" to="$(var input/trajectory)"/>

launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml

@@ -9,15 +9,21 @@
   <arg name="rosbridge_respawn" default="true"/>
   <arg name="rosbridge_max_message_size" default="10000000"/>
 
+  <arg name="log_level" default="WARN"/>
+
   <!-- Deprecated API -->
   <group if="$(var launch_deprecated_api)">
     <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/deprecated_api.launch.xml"/>
   </group>
 
   <!-- AD API -->
   <group>
-    <include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py" if="$(var launch_default_ad_api)"/>
-    <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var launch_rviz_adaptors)"/>
+    <include file="$(find-pkg-share default_ad_api)/launch/default_ad_api.launch.py" if="$(var launch_default_ad_api)">
+      <arg name="log_level" value="$(var log_level)"/>
+    </include>
+    <include file="$(find-pkg-share ad_api_adaptors)/launch/rviz_adaptors.launch.xml" if="$(var launch_rviz_adaptors)">
+      <arg name="log_level" value="$(var log_level)"/>
+    </include>
   </group>
 
   <!-- RTC controller -->

launch/tier4_control_launch/launch/control.launch.py

@@ -336,115 +336,130 @@
         plugin="GlogComponent",
         name="glog_component",
     )
+
+    log_args = ["--log-level", ["control.control_container:=", LaunchConfiguration("log_level")],
+                "--log-level", ["control.obstacle_collision_checker:=", LaunchConfiguration("log_level")],
+                "--log-level", ["control.autoware_operation_mode_transition_manager:=", LaunchConfiguration("log_level")],
+                "--log-level", ["control.vehicle_cmd_gate:=", LaunchConfiguration("log_level")],
+                "--log-level", ["control.predicted_path_checker:=", LaunchConfiguration("log_level")],
+                "--log-level", ["control.autonomous_emergency_braking:=", LaunchConfiguration("log_level")],
+                "--log-level", ["control.autoware_shift_decider:=", LaunchConfiguration("log_level")],
+                "--log-level", ["control.trajectory_follower.lane_departure_checker_node:=", LaunchConfiguration("log_level")],
+                "--log-level", ["control.trajectory_follower.controller_node_exe:=", LaunchConfiguration("log_level")],]
 
     # set container to run all required components in the same process
     if trajectory_follower_mode == "trajectory_follower_node":
         container = ComposableNodeContainer(
             name="control_container",
             namespace="",
             package="rclcpp_components",
             executable=LaunchConfiguration("container_executable"),
             composable_node_descriptions=[
                 controller_component,
                 lane_departure_component,
                 shift_decider_component,
                 vehicle_cmd_gate_component,
                 autoware_operation_mode_transition_manager_component,
                 glog_component,
             ],
+            ros_arguments=log_args,
         )
 
     elif trajectory_follower_mode == "smart_mpc_trajectory_follower":
         container = ComposableNodeContainer(
             name="control_container",
             namespace="",
             package="rclcpp_components",
             executable=LaunchConfiguration("container_executable"),
             composable_node_descriptions=[
                 lane_departure_component,
                 shift_decider_component,
                 vehicle_cmd_gate_component,
                 autoware_operation_mode_transition_manager_component,
                 glog_component,
             ],
+            ros_arguments=log_args,
         )
     else:
         raise Exception(
             f"The argument trajectory_follower_mode must be either trajectory_follower_node or smart_mpc_trajectory_follower, but {trajectory_follower_mode} was given."
         )
 
     # control evaluator
     control_evaluator_component = ComposableNode(
         package="autoware_control_evaluator",
         plugin="control_diagnostics::controlEvaluatorNode",
         name="control_evaluator",
         remappings=[
             ("~/input/diagnostics", "/diagnostics"),
             ("~/input/odometry", "/localization/kinematic_state"),
             ("~/input/trajectory", "/planning/scenario_planning/trajectory"),
             ("~/metrics", "/diagnostic/control_evaluator/metrics"),
         ],
     )
 
     control_evaluator_loader = LoadComposableNodes(
         composable_node_descriptions=[control_evaluator_component],
         target_container="/control/control_container",
     )
 
     # control validator checker
     control_validator_component = ComposableNode(
         package="autoware_control_validator",
         plugin="autoware::control_validator::ControlValidator",
         name="control_validator",
         remappings=[
             ("~/input/kinematics", "/localization/kinematic_state"),
             ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),
             (
                 "~/input/predicted_trajectory",
                 "/control/trajectory_follower/lateral/predicted_trajectory",
             ),
             ("~/output/validation_status", "~/validation_status"),
         ],
         parameters=[control_validator_param],
     )
 
     group = GroupAction(
         [
             PushRosNamespace("control"),
             container,
             external_cmd_selector_loader,
             external_cmd_converter_loader,
             obstacle_collision_checker_loader,
             autonomous_emergency_braking_loader,
             predicted_path_checker_loader,
             control_evaluator_loader,
         ]
     )
 
     control_validator_group = GroupAction(
         [
             PushRosNamespace("control"),
             ComposableNodeContainer(
                 name="control_validator_container",
                 namespace="",
                 package="rclcpp_components",
                 executable=LaunchConfiguration("container_executable"),
                 composable_node_descriptions=[
                     control_validator_component,
                     ComposableNode(
                         package="glog_component",
                         plugin="GlogComponent",
                         name="glog_validator_component",
                     ),
                 ],
+                ros_arguments=["--log-level", ["control.control_validator_container:=", LaunchConfiguration("log_level")],
+                               "--log-level", ["control.control_validator:=", LaunchConfiguration("log_level")]],
             ),
         ]
     )
 
     smart_mpc_trajectory_follower = Node(
         package="autoware_smart_mpc_trajectory_follower",
         executable="pympc_trajectory_follower.py",
         name="pympc_trajectory_follower",
+        arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")]
     )
     if trajectory_follower_mode == "trajectory_follower_node":
         return [group, control_validator_group]
@@ -493,6 +508,7 @@
         "trajectory_follower_node",
         "Options for which trajectory_follower to use. Options: `trajectory_follower_node`, `smart_mpc_trajectory_follower`",
     )
+    add_launch_arg("log_level", "WARN")
     set_container_executable = SetLaunchConfiguration(
         "container_executable",
         "component_container",

launch/tier4_map_launch/launch/map.launch.xml

@@ -19,10 +19,17 @@
   <let name="container_type" value="component_container" unless="$(var use_multithread)"/>
   <let name="container_type" value="component_container_mt" if="$(var use_multithread)"/>
 
+  <arg name="log_level" default="WARN"/>
+
   <group>
     <push-ros-namespace namespace="map"/>
 
-    <node_container pkg="rclcpp_components" exec="$(var container_type)" name="map_container" namespace="" output="both">
+    <node_container pkg="rclcpp_components" exec="$(var container_type)" name="map_container" namespace="" output="both"
+      ros_args="--log-level map.map_container:=$(var log_level) \
+                --log-level map.pointcloud_map_loader:=$(var log_level) \
+                --log-level map.lanelet2_map_loader:=$(var log_level) \
+                --log-level map.lanelet2_map_visualization:=$(var log_level) \
+                --log-level map.vector_map_tf_generator:=$(var log_level)">
       <composable_node pkg="map_loader" plugin="PointCloudMapLoaderNode" name="pointcloud_map_loader">
         <param from="$(var pointcloud_map_loader_param_path)"/>
         <param name="pcd_paths_or_directory" value="[$(var pointcloud_map_path)]"/>
@@ -54,7 +61,7 @@
       </composable_node>
     </node_container>
 
-    <node pkg="map_loader" exec="map_hash_generator" name="map_hash_generator">
+    <node pkg="map_loader" exec="map_hash_generator" name="map_hash_generator" ros_args="--log-level $(var log_level)">
       <param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
       <param name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
     </node>
@@ -63,6 +70,7 @@
       <arg name="param_path" value="$(var map_projection_loader_param_path)"/>
       <arg name="map_projector_info_path" value="$(var map_projector_info_path)"/>
       <arg name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
+      <arg name="log_level" value="$(var log_level)"/>
     </include>
   </group>
 </launch>

launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml

@@ -2,13 +2,15 @@
 <launch>
   <arg name="use_vector_map" default="false" description="use vector map in prediction"/>
   <arg name="input/objects" default="/perception/object_recognition/tracking/objects"/>
+  <arg name="log_level" default="WARN"/>
 
   <group if="$(var use_vector_map)">
     <set_remap from="objects" to="/perception/object_recognition/objects"/>
     <include file="$(find-pkg-share autoware_map_based_prediction)/launch/map_based_prediction.launch.xml">
       <arg name="output_topic" value="/perception/object_recognition/objects"/>
       <arg name="input_topic" value="$(var input/objects)"/>
       <arg name="param_path" value="$(var object_recognition_prediction_map_based_prediction_param_path)"/>
+      <arg name="log_level" value="$(var log_level)"/>
     </include>
   </group>
   <group unless="$(var use_vector_map)">

launch/tier4_perception_launch/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml

@@ -13,6 +13,7 @@
   <arg name="occupancy_grid_map_updater_param_path"/>
   <arg name="input_obstacle_pointcloud" default="false" description="subscribe obstacle pointcloud"/>
   <arg name="input_obstacle_and_raw_pointcloud" default="true" description="subscribe both obstacle and raw pointcloud"/>
+  <arg name="log_level" default="WARN"/>
 
   <!--pointcloud based method-->
   <group if="$(eval &quot;'$(var occupancy_grid_map_method)'=='pointcloud_based_occupancy_grid_map'&quot;)">
@@ -45,6 +46,7 @@
       <arg name="updater_param_file" value="$(var occupancy_grid_map_updater_param_path)"/>
       <arg name="input_obstacle_pointcloud" value="$(var input_obstacle_pointcloud)"/>
       <arg name="input_obstacle_and_raw_pointcloud" value="$(var input_obstacle_and_raw_pointcloud)"/>
+      <arg name="log_level" value="$(var log_level)"/>
     </include>
   </group>
 

launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

@@ -28,6 +28,8 @@
   <arg name="car_classifier_param_path" default="$(find-pkg-share traffic_light_classifier)/config/car_traffic_light_classifier.param.yaml"/>
   <arg name="pedestrian_classifier_param_path" default="$(find-pkg-share traffic_light_classifier)/config/pedestrian_traffic_light_classifier.param.yaml"/>
 
+  <arg name="log_level" default="WARN"/>
+
   <!-- namespace1 camera TLR pipeline -->
   <group>
     <push-ros-namespace namespace="$(var namespace1)"/>
@@ -79,6 +81,7 @@
         <arg name="input/car/traffic_signals" value="classified/car/traffic_signals"/>
         <arg name="input/pedestrian/traffic_signals" value="classified/pedestrian/traffic_signals"/>
         <arg name="output/traffic_signals" value="$(var output/traffic_signals1)"/>
+        <arg name="log_level" value="$(var log_level)"/>
       </include>
     </group>
   </group>
@@ -140,7 +143,7 @@
 
   <!-- traffic_light_multi_camera_fusion -->
   <group>
-    <node pkg="traffic_light_multi_camera_fusion" exec="traffic_light_multi_camera_fusion_node" name="traffic_light_multi_camera_fusion" output="screen">
+    <node pkg="traffic_light_multi_camera_fusion" exec="traffic_light_multi_camera_fusion_node" name="traffic_light_multi_camera_fusion" output="screen" ros_args="--log-level $(var log_level)">
       <param name="camera_namespaces" value="$(var all_camera_namespaces)"/>
       <param name="perform_group_fusion" value="true"/>
       <remap from="~/input/vector_map" to="/map/vector_map"/>
@@ -154,11 +157,12 @@
       <arg name="perception_traffic_signals" value="$(var internal/traffic_signals)"/>
       <arg name="external_traffic_signals" value="$(var external/traffic_signals)"/>
       <arg name="output_traffic_signals" value="$(var judged/traffic_signals)"/>
+      <arg name="log_level" value="$(var log_level)"/>
     </include>
   </group>
 
   <group if="$(var use_crosswalk_traffic_light_estimator)">
-    <node pkg="autoware_crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen">
+    <node pkg="autoware_crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen" ros_args="--log-level $(var log_level)">
       <remap from="~/input/vector_map" to="/map/vector_map"/>
       <remap from="~/input/route" to="/planning/mission_planning/route"/>
       <remap from="~/input/classified/traffic_signals" to="$(var judged/traffic_signals)"/>
@@ -168,7 +172,7 @@
   </group>
 
   <group unless="$(var use_crosswalk_traffic_light_estimator)">
-    <node pkg="topic_tools" exec="relay" name="fusion_signals_relay" output="screen">
+    <node pkg="topic_tools" exec="relay" name="fusion_signals_relay" output="screen" ros_args="--log-level $(var log_level)">
       <param name="input_topic" value="$(var judged/traffic_signals)"/>
       <param name="output_topic" value="$(var output/traffic_signals)"/>
       <param name="type" value="autoware_perception_msgs/msg/TrafficLightGroupArray"/>
@@ -177,6 +181,8 @@
 
   <!-- visualizer -->
   <group>
-    <include file="$(find-pkg-share traffic_light_visualization)/launch/traffic_light_map_visualizer.launch.xml"/>
+    <include file="$(find-pkg-share traffic_light_visualization)/launch/traffic_light_map_visualizer.launch.xml">
+      <arg name="log_level" value="$(var log_level)"/>
+    </include>
   </group>
 </launch>

launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml

@@ -1,8 +1,10 @@
 <launch>
   <arg name="mission_planner_param_path" default="$(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml"/>
+  <arg name="log_level" default="WARN"/>
   <group>
     <include file="$(find-pkg-share autoware_mission_planner)/launch/mission_planner.launch.xml">
       <arg name="mission_planner_param_path" value="$(var mission_planner_param_path)"/>
+      <arg name="log_level" value="$(var log_level)"/>
     </include>
   </group>
   <group>

launch/tier4_planning_launch/launch/planning.launch.xml

@@ -10,6 +10,7 @@
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode"/>
   <arg name="is_simulation"/>
+  <arg name="log_level" default="WARN"/>
 
   <group>
     <push-ros-namespace namespace="planning"/>
@@ -18,6 +19,7 @@
       <push-ros-namespace namespace="mission_planning"/>
       <include file="$(find-pkg-share tier4_planning_launch)/launch/mission_planning/mission_planning.launch.xml">
         <arg name="mission_planner_param_path" value="$(var mission_planner_param_path)"/>
+        <arg name="log_level" value="$(var log_level)"/>
       </include>
     </group>
 
@@ -27,6 +29,7 @@
       <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/scenario_planning.launch.xml">
         <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
         <arg name="is_simulation" value="$(var is_simulation)"/>
+        <arg name="log_level" value="$(var log_level)"/>
       </include>
     </group>
 
@@ -36,17 +39,22 @@
         <arg name="input_trajectory" value="/planning/scenario_planning/velocity_smoother/trajectory"/>
         <arg name="output_trajectory" value="/planning/scenario_planning/trajectory"/>
         <arg name="planning_validator_param_path" value="$(var planning_validator_param_path)"/>
+        <arg name="log_level" value="$(var log_level)"/>
       </include>
     </group>
 
     <!-- planning evaluator -->
     <group>
-      <include file="$(find-pkg-share autoware_planning_evaluator)/launch/planning_evaluator.launch.xml"/>
+      <include file="$(find-pkg-share autoware_planning_evaluator)/launch/planning_evaluator.launch.xml">
+        <arg name="log_level" value="$(var log_level)"/>
+      </include>
     </group>
 
     <!-- mission remaining distance and time calculator -->
     <group>
-      <include file="$(find-pkg-share autoware_remaining_distance_time_calculator)/launch/remaining_distance_time_calculator.launch.xml"/>
+      <include file="$(find-pkg-share autoware_remaining_distance_time_calculator)/launch/remaining_distance_time_calculator.launch.xml">
+        <arg name="log_level" value="$(var log_level)"/>
+      </include>
     </group>
   </group>
 </launch>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml

@@ -1,6 +1,7 @@
 <launch>
   <arg name="enable_all_modules_auto_mode"/>
   <arg name="is_simulation"/>
+  <arg name="log_level" default="WARN"/>
 
   <!-- lane_driving scenario -->
   <group>
@@ -15,6 +16,7 @@
           <arg name="is_simulation" value="$(var is_simulation)"/>
           <!-- This condition should be true if run_out module is enabled and its detection method is Points -->
           <arg name="launch_compare_map_pipeline" value="false"/>
+          <arg name="log_level" value="$(var log_level)"/>
         </include>
       </group>
     </group>
@@ -25,6 +27,7 @@
       <group>
         <include file="$(find-pkg-share tier4_planning_launch)/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml">
           <arg name="container_type" value="component_container_mt"/>
+          <arg name="log_level" value="$(var log_level)"/>
         </include>
       </group>
     </group>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -36,6 +36,8 @@
 
   <arg name="launch_module_list_end" default="&quot;&quot;]"/>
 
+  <arg name="log_level" default="WARN"/>
+
   <!-- assemble launch config for behavior path planner -->
   <arg name="behavior_path_planner_launch_modules" default="["/>
   <let
@@ -169,7 +171,12 @@
   />
   <let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>
 
-  <node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args="" output="both">
+  <node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args="" output="both"
+    ros_args="--log-level planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container:=$(var log_level) \
+              --log-level planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner:=$(var log_level) \
+              --log-level planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner:=$(var log_level) \
+              --log-level planning.scenario_planning.lane_driving.behavior_planning.voxel_distance_based_compare_map_filter_node:=$(var log_level) \
+              --log-level planning.scenario_planning.lane_driving.behavior_planning.vector_map_inside_area_filter_node:=$(var log_level)">
     <composable_node pkg="autoware_behavior_path_planner" plugin="autoware::behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">
       <!-- topic remap -->
       <remap from="~/input/route" to="$(var input_route_topic_name)"/>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

@@ -7,6 +7,8 @@
   <arg name="launch_obstacle_velocity_limiter_module" default="true"/>
   <arg name="launch_module_list_end" default="&quot;&quot;]"/>
 
+  <arg name="log_level" default="WARN"/>
+
   <!-- assemble launch config for motion velocity planner -->
   <arg name="motion_velocity_planner_launch_modules" default="["/>
   <let
@@ -26,7 +28,16 @@
   />
   <let name="motion_velocity_planner_launch_modules" value="$(eval &quot;'$(var motion_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>
 
-  <node_container pkg="rclcpp_components" exec="$(var container_type)" name="motion_planning_container" namespace="" args="" output="screen">
+  <node_container pkg="rclcpp_components" exec="$(var container_type)" name="motion_planning_container" namespace="" args="" output="screen"
+    ros_args="--log-level planning.scenario_planning.lane_driving.motion_planning.motion_planning_container:=$(var log_level) \
+              --log-level planning.scenario_planning.lane_driving.motion_planning.elastic_band_smoother:=$(var log_level) \
+              --log-level planning.scenario_planning.lane_driving.motion_planning.path_smoother_relay:=$(var log_level) \
+              --log-level planning.scenario_planning.lane_driving.motion_planning.path_optimizer:=$(var log_level) \
+              --log-level planning.scenario_planning.lane_driving.motion_planning.path_sampler:=$(var log_level) \
+              --log-level planning.scenario_planning.lane_driving.motion_planning.path_to_trajectory_converter:=$(var log_level) \
+              --log-level planning.scenario_planning.lane_driving.motion_planning.obstacle_cruise_planner:=$(var log_level) \
+              --log-level planning.scenario_planning.lane_driving.motion_planning.obstacle_stop_planner:=$(var log_level) \
+              --log-level planning.scenario_planning.lane_driving.motion_planning.obstacle_stop_relay:=$(var log_level)">
     <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
   </node_container>