Class Logger

Defined in File Logger.hpp

Nested Relationships

Nested Types

Struct Logger::Task

Class Documentation

class Logger

Static utility class for time profiling and logging in ROS2.

Provides static methods to time code sections, collect and print log messages, and print a formatted report. Uses rclcpp logging macros and supports both immediate and deferred printing.

Public Static Functions

static void set_logger(const rclcpp::Logger &logger)

Set the logger to be used for RCLCPP macros.

Parameters:: logger – The rclcpp::Logger instance (e.g., from your node).

static void tick(const std::string &clockName)

Start timing a named code section.

Parameters:: clockName – Name of the code section/task.

static std::chrono::duration<double> tock(const std::string &clockName)

Stop timing a named code section and optionally print the result.

Parameters:: clockName – Name of the code section/task.
Returns:: Duration of this run.

static void loginfo(const std::string &msg)

Add an info message to the log queue or print immediately.

Parameters:: msg – The message to log.

static void logwarn(const std::string &msg)

Add a warning message to the log queue or print immediately.

Parameters:: msg – The warning message to log.

static void print_report(): Print a formatted report of all timed tasks and queued log messages.

Public Static Attributes

static bool print_immediately: If true, logs and timings are printed immediately; otherwise, they are queued for the report.

struct Task

Stores timing metrics for a named code section.

Public Functions

Task(std::chrono::steady_clock::time_point start)

Construct a new Task object and start timing.

Parameters:: start – Start time point.

void activate(std::chrono::steady_clock::time_point now)

Activate (start) the timer.

Parameters:: now – Current time point.

std::chrono::duration<double> stop(std::chrono::steady_clock::time_point now)

Stop the timer and update statistics.

Parameters:: now – Current time point.
Returns:: Duration of this run.

Public Members

bool active: True if the timer is running.

std::chrono::steady_clock::time_point start_time: Start time of the task.

std::chrono::duration<double> last_duration: Duration of the last run.

std::chrono::duration<double> max_duration: Maximum duration recorded.

std::chrono::duration<double> total_time_active: Total accumulated time.

int count: Number of times the task was timed.