SPDLOG#
Introduction#
SPDLOG is a useful and complete logging library, available for C++. We tested it shortly with ROS2.
How to use ?#
Head over to the SPDLOG repository to get all the necessary informations. It is simple and their example are detailed.
Example of use with ROS2#
CMakeLists.txt
cmake_minimum_required(VERSION 3.5)
project(spdlogger)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(spdlog REQUIRED) # <--------------------------------------- add SPDLOG here
add_executable(logger_app src/logger_app.cpp)
target_include_directories(logger_app PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(logger_app PRIVATE spdlog::spdlog) # <------------ add SPDLOG here
install(TARGETS logger_app
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights, uncomment the line when a copyright and license is not present in all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo), uncomment the line when this package is not in a git repo
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()
package.xml
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>spdlogger</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="gilles.mottiez@hevs.ch">spl</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>spdlog</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
main.cpp
#include <cstdio>
#include "spdlog/spdlog.h"
int main(int argc, char ** argv)
{
(void) argc;
(void) argv;
spdlog::info("Welcome to spdlog :-)");
spdlog::error("Some error message with arg: {}", 1);
spdlog::warn("Easy padding in numbers like {:08d}", 12);
spdlog::critical("Support for int: {0:d}; hex: {0:x}; oct: {0:o}; bin: {0:b}", 42);
spdlog::info("Support for floats {:03.2f}", 1.23456);
spdlog::info("Positional args are {1} {0}..", "too", "supported");
spdlog::info("{:<30}", "left aligned");
spdlog::set_level(spdlog::level::debug); // Set global log level to debug
spdlog::debug("This message should be displayed..");
spdlog::set_level(spdlog::level::info); // Set global log level to info
spdlog::debug("This message should not be displayed..");
return 0;
}