ros2日志打印具体时间而不是时间戳

zorrozzz

ros2默认的打印接口get_logger打印输出的内容中时间是以时间戳格式打印，如图：

查看官方文档似乎只有时间戳time的选项，没有其他时间格式

有没有办法让其改为‘年-月-日时:分:秒’的格式以方便系统维护和故障排查？

小鱼

@283020637 每猜错你想要的应该是下面这种效果

ros2 run demo_nodes_cpp talker
---
[INFO] [12:34:26.755] [talker]: Publishing: 'Hello World: 1'
[INFO] [12:34:27.755] [talker]: Publishing: 'Hello World: 2'
[INFO] [12:34:28.755] [talker]: Publishing: 'Hello World: 3'
[INFO] [12:34:29.755] [talker]: Publishing: 'Hello World: 4'
[INFO] [12:34:30.755] [talker]: Publishing: 'Hello World: 5'
[INFO] [12:34:31.755] [talker]: Publishing: 'Hello World: 6'
[INFO] [12:34:32.755] [talker]: Publishing: 'Hello World: 7'
[INFO] [12:34:33.755] [talker]: Publishing: 'Hello World: 8'

我看了下，目前来说没有一个好的原生方案，不过可以手动改源码实现。

首先下载 rcutils 源码，并安装依赖：

git clone https://github.com/ros2/rcutils.git -b humble
sudo apt install ros-humble-mimick-vendor -y

打开文件：rcutils/include/rcutils/time.h ,添加代码

RCUTILS_PUBLIC
RCUTILS_WARN_UNUSED
rcutils_ret_t rcutils_time_point_value_as_hmsms_string(
    const rcutils_time_point_value_t *time_point, char *str, size_t str_size);

打开文件：rcutils/src/time.c,添加代码

rcutils_ret_t rcutils_time_point_value_as_hmsms_string(
  const rcutils_time_point_value_t * time_point,
  char * str,
  size_t str_size)
{
  RCUTILS_CHECK_ARGUMENT_FOR_NULL(time_point, RCUTILS_RET_INVALID_ARGUMENT);
  RCUTILS_CHECK_ARGUMENT_FOR_NULL(str, RCUTILS_RET_INVALID_ARGUMENT);
  if (0 == str_size) {
    return RCUTILS_RET_OK;
  }
  // best to abs it to avoid issues with negative values in C89, see:
  //   https://stackoverflow.com/a/3604984/671658
  uint64_t abs_time_point = (uint64_t)llabs(*time_point);
  // Calculate hours, minutes, seconds, and milliseconds
  uint64_t milliseconds = abs_time_point / 1000000u; // Convert nanoseconds to milliseconds
  uint64_t seconds = milliseconds / 1000u;
  uint64_t minutes = seconds / 60u;
  uint64_t hours = minutes / 60u;
  milliseconds %= 1000u;
  seconds %= 60u;
  minutes %= 60u;
  hours %= 24u;
  
  if (rcutils_snprintf(
      str, str_size, "%s%02" PRId64 ":%02" PRId64 ":%02" PRId64 ".%03" PRId64,
      (*time_point >= 0) ? "" : "->", hours, minutes, seconds, milliseconds) < 0)
  {
    RCUTILS_SET_ERROR_MSG("failed to format time point into string");
    return RCUTILS_RET_ERROR;
  }
  return RCUTILS_RET_OK;
}

打开文件： rcutils/src/logging.c ，修改代码：

// 修改前：
const char * expand_time_as_seconds(
  const logging_input * logging_input,
  rcutils_char_array_t * logging_output)
{
  return expand_time(logging_input, logging_output, rcutils_time_point_value_as_seconds_string);
}

// 修改后：
const char * expand_time_as_seconds(
  const logging_input * logging_input,
  rcutils_char_array_t * logging_output)
{
  return expand_time(logging_input, logging_output, rcutils_time_point_value_as_hmsms_string);
}

编译代码：

colcon build

然后source 后运行任意日志打印就可以了,也可以直接替换系统库里的头文件和库

zorrozzz

感谢大佬答疑

zorrozzz

按照大佬的思路再优化一下，年月日也出来了

优化了上面大佬回答中的rcutils_time_point_value_as_hmsms_string

rcutils_ret_t rcutils_time_point_value_as_hmsms_string(
  const rcutils_time_point_value_t * time_point,
  char * str,
  size_t str_size)
{
  RCUTILS_CHECK_ARGUMENT_FOR_NULL(time_point, RCUTILS_RET_INVALID_ARGUMENT);
  RCUTILS_CHECK_ARGUMENT_FOR_NULL(str, RCUTILS_RET_INVALID_ARGUMENT);
  if (0 == str_size) {
    return RCUTILS_RET_OK;
  }

  int64_t seconds = *time_point / (1000 * 1000 * 1000);
  int64_t milliseconds = *time_point / 1000000u % 1000;

  struct tm* timeinfo;
  int year, month, day, hour, minute, second;

  timeinfo = localtime(&seconds);
  year = timeinfo->tm_year + 1900;
  month = timeinfo->tm_mon + 1;
  day = timeinfo->tm_mday;
  hour = timeinfo->tm_hour;
  minute = timeinfo->tm_min;
  second = timeinfo->tm_sec;

  if (rcutils_snprintf(
      str, str_size, "%s%04d-%02d-%02d %02d:%02d:%02d.%03lu",
      (*time_point >= 0) ? "" : "->", year, month, day, hour, minute, second, milliseconds) < 0)
  {
    RCUTILS_SET_ERROR_MSG("failed to format time point into string");
    return RCUTILS_RET_ERROR;
  }
  return RCUTILS_RET_OK;
}

前面要加上 #include <time.h>

另外编译rcutils时还要需要先安装performance-test-fixture

sudo apt install ros-humble-performance-test-fixture