ROS2日志如何打印时分秒格式时间

小鱼

这是一个来自鱼香ROS社区的问题,问题原文以及小鱼提供的解决方案如下:

问题: ros2日志打印具体时间而不是时间戳

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？

小鱼提供的解决方案:

没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

ICE

小鱼你好，这样改的话，now函数得到的时间戳也会是时分秒的格式吗？

小鱼

@2681126835 不会，只会影响打印

ICE

@小鱼在 ROS2日志如何打印时分秒格式时间中说：

colcon build

小鱼你好，我按照这个步骤走下去在编译的时候报了这个错

--- stderr: rcutils
CMake Error at CMakeLists.txt:182 (find_package):
  By not providing "Findosrf_testing_tools_cpp.cmake" in CMAKE_MODULE_PATH
  this project has asked CMake to find a package configuration file provided
  by "osrf_testing_tools_cpp", but CMake did not find one.

  Could not find a package configuration file provided by
  "osrf_testing_tools_cpp" with any of the following names:

    osrf_testing_tools_cppConfig.cmake
    osrf_testing_tools_cpp-config.cmake

  Add the installation prefix of "osrf_testing_tools_cpp" to
  CMAKE_PREFIX_PATH or set "osrf_testing_tools_cpp_DIR" to a directory
  containing one of the above files.  If "osrf_testing_tools_cpp" provides a
  separate development package or SDK, be sure it has been installed.


---
Failed   <<< rcutils [1.10s, exited with code 1]

请问下怎么解决
环境：
Ubuntu 20.04
ROS2 foxy

木子木

@2681126835 你看看你安装源码的第一步是不是没改版本，放弃所有更改，切换到foxy分支就可以了

xzhstax

@2681126835 我也遇到了相同的问题，环境和你一样。使用如下命令解决问题

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