enable/disable rosout logging in each node individually

rclpy/CMakeLists.txt

@@ -194,6 +194,7 @@ if(BUILD_TESTING)
     test/test_handle.py
     test/test_init_shutdown.py
     test/test_logging.py
+    test/test_logging_rosout.py
     test/test_messages.py
     test/test_node.py
     test/test_parameter.py

rclpy/rclpy/__init__.py

@@ -110,6 +110,7 @@ def create_node(
     cli_args: List[str] = None,
     namespace: str = None,
     use_global_arguments: bool = True,
+    enable_rosout: bool = True,
     start_parameter_services: bool = True,
     parameter_overrides: List[Parameter] = None,
     allow_undeclared_parameters: bool = False,
@@ -127,6 +128,7 @@ def create_node(
         (node name, topics, etc).
     :param use_global_arguments: ``False`` if the node should ignore process-wide command line
         arguments.
+    :param enable_rosout: ``False`` if the node should ignore rosout logging.
     :param start_parameter_services: ``False`` if the node should not create parameter services.
     :param parameter_overrides: A list of :class:`.Parameter` which are used to override the
         initial values of parameters declared on this node.
@@ -141,6 +143,7 @@ def create_node(
     return Node(
         node_name, context=context, cli_args=cli_args, namespace=namespace,
         use_global_arguments=use_global_arguments,
+        enable_rosout=enable_rosout,
         start_parameter_services=start_parameter_services,
         parameter_overrides=parameter_overrides,
         allow_undeclared_parameters=allow_undeclared_parameters,

rclpy/rclpy/node.py

@@ -108,6 +108,7 @@ def __init__(
         cli_args: List[str] = None,
         namespace: str = None,
         use_global_arguments: bool = True,
+        enable_rosout: bool = True,
         start_parameter_services: bool = True,
         parameter_overrides: List[Parameter] = None,
         allow_undeclared_parameters: bool = False,
@@ -126,6 +127,7 @@ def __init__(
             Validated by :func:`validate_namespace`.
         :param use_global_arguments: ``False`` if the node should ignore process-wide command line
             args.
+        :param enable_rosout: ``False`` if the node should ignore rosout logging.
         :param start_parameter_services: ``False`` if the node should not create parameter
             services.
         :param parameter_overrides: A list of overrides for initial values for parameters declared
@@ -157,7 +159,12 @@ def __init__(
             raise NotInitializedException('cannot create node')
         try:
             self.__handle = Handle(_rclpy.rclpy_create_node(
-                node_name, namespace, self._context.handle, cli_args, use_global_arguments
+                node_name,
+                namespace,
+                self._context.handle,
+                cli_args,
+                use_global_arguments,
+                enable_rosout
             ))
         except ValueError:
             # these will raise more specific errors if the name or namespace is bad

rclpy/src/rclpy/_rclpy.c

@@ -637,9 +637,16 @@ rclpy_create_node(PyObject * Py_UNUSED(self), PyObject * args)
   PyObject * pycontext;
   PyObject * py_cli_args;
   int use_global_arguments;
+  int enable_rosout;
 
   if (!PyArg_ParseTuple(
-      args, "ssOOp", &node_name, &namespace_, &pycontext, &py_cli_args, &use_global_arguments))
+      args, "ssOOpp",
+      &node_name,
+      &namespace_,
+      &pycontext,
+      &py_cli_args,
+      &use_global_arguments,
+      &enable_rosout))
   {
     return NULL;
   }
@@ -666,6 +673,7 @@ rclpy_create_node(PyObject * Py_UNUSED(self), PyObject * args)
   rcl_node_options_t options = rcl_node_get_default_options();
   options.use_global_arguments = use_global_arguments;
   options.arguments = arguments;
+  options.enable_rosout = enable_rosout;
   ret = rcl_node_init(node, node_name, namespace_, context, &options);
   if (ret != RCL_RET_OK) {
     if (ret == RCL_RET_BAD_ALLOC) {

rclpy/test/test_logging_rosout.py

@@ -0,0 +1,85 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import pytest
+
+from rcl_interfaces.msg import Log
+import rclpy
+from rclpy.executors import SingleThreadedExecutor
+
+TEST_PARAMETERS = [
+    ('enable_global_rosout_enable_node_rosout', True, True, True),
+    ('enable_global_rosout_disable_node_rosout', True, False, False),
+    ('disable_global_rosout_enable_node_rosout', False, True, False),
+    ('disable_global_rosout_disable_node_rosout', False, False, False),
+]
+
+raw_subscription_msg = None  # None=No result yet
+
+
+def raw_subscription_callback(msg):
+    global raw_subscription_msg
+    raw_subscription_msg = msg
+
+
+@pytest.mark.parametrize(
+    'name,enable_global_rosout_logs,enable_node_rosout,expected_data',
+    TEST_PARAMETERS)
+def test_enable_rosout(
+    name,
+    enable_global_rosout_logs,
+    enable_node_rosout,
+    expected_data
+):
+    if enable_global_rosout_logs:
+        args = ['--ros-args', '--enable-rosout-logs']
+    else:
+        args = ['--ros-args', '--disable-rosout-logs']
+
+    context = rclpy.context.Context()
+    rclpy.init(context=context, args=args)
+    executor = SingleThreadedExecutor(context=context)
+
+    # create node
+    node = rclpy.create_node(
+        node_name='my_node_'+name,
+        namespace='/my_ns',
+        enable_rosout=enable_node_rosout,
+        context=context
+    )
+    executor.add_node(node)
+
+    global raw_subscription_msg
+    raw_subscription_msg = None
+    # create subscriber of 'rosout' topic
+    node.create_subscription(
+        Log,
+        'rosout',
+        raw_subscription_callback,
+        1,
+        raw=True
+    )
+
+    node.get_logger().info('SOMETHING')
+    executor.spin_once(timeout_sec=1)
+
+    if expected_data:
+        assert (raw_subscription_msg is not None)
+        assert (type(raw_subscription_msg) == bytes)
+        assert (len(raw_subscription_msg) != 0)
+    else:
+        assert (raw_subscription_msg is None)
+
+    node.destroy_node()
+    rclpy.shutdown(context=context)