feat(planning_debug_utils): add update_logger_level.sh (autowarefound…

…ation#5888)

* feat(planning_debug_utils): update_logger_level.sh

Signed-off-by: Takayuki Murooka <[email protected]>

* add error handling

Signed-off-by: Takayuki Murooka <[email protected]>

* update README

Signed-off-by: Takayuki Murooka <[email protected]>

---------

Signed-off-by: Takayuki Murooka <[email protected]>

planning/planning_debug_tools/CMakeLists.txt

@@ -53,5 +53,6 @@ install(PROGRAMS
   scripts/closest_velocity_checker.py
   scripts/perception_replayer/perception_reproducer.py
   scripts/perception_replayer/perception_replayer.py
+  scripts/update_logger_level.sh
   DESTINATION lib/${PROJECT_NAME}
 )

planning/planning_debug_tools/README.md

@@ -6,6 +6,7 @@ This package contains several planning-related debug tools.
 - **Closest velocity checker**: prints the velocity information indicated by each modules
 - **Perception reproducer**: generates detected objects from rosbag data in planning simulator environment
 - **processing time checker**: displays processing_time of modules on the terminal
+- **logging level updater**: updates the logging level of the planning modules.
 
 ## Trajectory analyzer
 
@@ -264,3 +265,19 @@ The program allows users to customize two parameters via command-line arguments:
 - --display_frequency (or -f): This sets the frequency at which the terminal UI updates. The default value is 5Hz.
 
 By adjusting these parameters, users can tailor the display to their specific monitoring needs.
+
+## Logging Level Updater
+
+The purpose of the Logging Level Updater is to update the logging level of the planning modules via ROS 2 service. Users can easily update the logging level for debugging.
+
+```bash
+ros2 run planning_debug_tools update_logger_level.sh <module-name> <logger-level>
+```
+
+`<logger-level>` will be `DEBUG`, `INFO`, `WARN`, or `ERROR`.
+
+![logging_level_updater](image/logging_level_updater.png)
+
+When you have a typo of the planning module, the script will show the available modules.
+
+![logging_level_updater_typo](image/logging_level_updater_typo.png)

planning/planning_debug_tools/scripts/update_logger_level.sh

@@ -0,0 +1,41 @@
+#!/bin/bash
+
+declare -A node_name_dict
+declare -A logger_name_dict
+
+# behavior path planner
+behavior_path_module_list=("avoidance" "avoidance_by_lane_change" "dynamic_avoidance" "lane_change_right" "lane_change_left" "external_request_lane_change_right" "external_request_lane_change_left" "goal_planner" "start_planner" "side_shift")
+for module in "${behavior_path_module_list[@]}"; do
+    node_name_dict[$module]="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"
+    logger_name_dict[$module]="planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner."$module
+done
+
+# behavior velocity planner
+behavior_velocity_module_list=("crosswalk" "walkway" "traffic_light" "intersection" "merge_from_private" "blind_spot" "detection_area" "virtual_traffic_light" "no_stopping_area" "stop_line" "occlusion_spot" "run_out" "speed_bump" "out_of_lane" "no_drivable_lane")
+for module in "${behavior_velocity_module_list[@]}"; do
+    node_name_dict[$module]="/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"
+    logger_name_dict[$module]="planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner."$module
+done
+
+# obstacle avoidance planner
+node_name_dict["obstacle_avoidance_planner"]=/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
+logger_name_dict["obstacle_avoidance_planner"]=/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner
+
+# motion velocity smoother
+node_name_dict["motion_velocity_smoother"]=/planning/scenario_planning/motion_velocity_smoother
+logger_name_dict["motion_velocity_smoother"]=/planning/scenario_planning/motion_velocity_smoother
+
+if [ -z "${node_name_dict[$1]}" ]; then
+    echo "[ERROR] $1 is not found."
+    echo -n "[ERROR] The available modules are [ "
+    for node_name in "${!node_name_dict[@]}"; do
+        echo -n "${node_name} "
+    done
+    echo "]"
+    exit 0
+fi
+
+# update logger
+node_name=${node_name_dict[$1]}
+logger_name=${logger_name_dict[$1]}
+ros2 service call "$node_name/config_logger" logging_demo/srv/ConfigLogger "{logger_name: $logger_name, level: $2}"