david
597ab48699
- Import hivecore_logger alongside stdlib logging - Replace _setup_file_logging() with hivecore_logger.init() using node_name='ctrlgui', log_dir from ROS2 param log_base_dir, enable_signal_handlers=False and enable_auto_shutdown_hook=False to avoid conflicts with NiceGUI/ROS2 lifecycle - Obtain logger instance via hivecore_logger.get_logger(); all existing self.file_logger call sites (info/warning/error) unchanged - Add hivecore_logger.stop() in shutdown() to flush async log queue - Update default log_base_dir parameter to /var/log/robot - Log output format: [timestamp] [LEVEL] [ctrlgui] [thread] [file:line] msg written to <log_dir>/<YYYYMMDD>/ctrlgui.log with console echo
34 lines
1.2 KiB
YAML
34 lines
1.2 KiB
YAML
ctrlgui_node:
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ros__parameters:
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collection_enabled: false
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data_base_dir: "/home/demo/hivecore_robot_os1/data"
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log_base_dir: "/var/log/robot"
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queue_size: 10
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action_server_wait_timeout_sec: 1.0
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work_info_log_throttle_sec: 1.0
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joint_state_log_throttle_sec: 1.0
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work_info_log_every_n: 100
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bt_xml_log_max_len: 100
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ui_update_period_sec: 0.5
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host: "0.0.0.0"
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port: 8080
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topic_led_cmd: "/led_cmd"
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service_rebuild_now: "/cerebrum/rebuild_now"
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topic_robot_work_info: "/robot_work_info"
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action_execute_bt: "/execute_bt_action"
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topic_joint_states: "/joint_states"
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action_gripper0_cmd: "/gripper_cmd0"
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action_gripper1_cmd: "/gripper_cmd1"
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topic_gripper0_status: "/gripper0/status"
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topic_gripper1_status: "/gripper1/status"
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topic_arm_errors: "/arm_errors"
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service_clear_arm_error: "clear_arm_error"
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topic_top_color: "/camera/color/image_raw"
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topic_top_depth: "/camera/depth/image_raw"
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topic_left_color: "/camera1/camera1/color/image_raw"
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topic_left_depth: "/camera1/camera1/depth/image_rect_raw"
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topic_right_color: "/camera2/camera2/color/image_raw"
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topic_right_depth: "/camera2/camera2/depth/image_rect_raw"
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