Skip to content

Commit 7f936e0

Browse files
mgonzs13mgonzs13
committed
fixing logs in lifecycles callbacks
1 parent dabdb90 commit 7f936e0

File tree

7 files changed

+85
-23
lines changed

7 files changed

+85
-23
lines changed

‎yolov8_bringup/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>yolov8_bringup</name>
5-
<version>3.3.0</version>
5+
<version>3.3.2</version>
66
<description>YOLOv8 for ROS 2</description>
77
<maintainer email="mgons@unileon.es">Miguel Ángel González Santamarta</maintainer>
88
<license>GPL-3</license>

‎yolov8_msgs/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>yolov8_msgs</name>
5-
<version>3.3.0</version>
5+
<version>3.3.2</version>
66
<description>Msgs for YOLOv8</description>
77
<maintainer email="mgons@unileon.es">Miguel Ángel González Santamarta</maintainer>
88
<license>GPL-3</license>

‎yolov8_ros/package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>yolov8_ros</name>
5-
<version>3.3.0</version>
5+
<version>3.3.2</version>
66
<description>YOLOv8 for ROS 2</description>
77
<maintainer email="mgons@unileon.es">Miguel Ángel González Santamarta</maintainer>
88
<license>GPL-3</license>

‎yolov8_ros/yolov8_ros/debug_node.py

+22-6
Original file line numberDiff line numberDiff line change
@@ -55,10 +55,8 @@ def __init__(self) -> None:
5555
self.declare_parameter("image_reliability",
5656
QoSReliabilityPolicy.BEST_EFFORT)
5757

58-
self.get_logger().info("Debug node created")
59-
6058
def on_configure(self, state: LifecycleState) -> TransitionCallbackReturn:
61-
self.get_logger().info(f"Configuring {self.get_name()}")
59+
self.get_logger().info(f"[{self.get_name()}] Configuring...")
6260

6361
self.image_qos_profile = QoSProfile(
6462
reliability=self.get_parameter(
@@ -75,10 +73,13 @@ def on_configure(self, state: LifecycleState) -> TransitionCallbackReturn:
7573
self._kp_markers_pub = self.create_publisher(
7674
MarkerArray, "dgb_kp_markers", 10)
7775

76+
super().on_configure(state)
77+
self.get_logger().info(f"[{self.get_name()}] Configured")
78+
7879
return TransitionCallbackReturn.SUCCESS
7980

8081
def on_activate(self, state: LifecycleState) -> TransitionCallbackReturn:
81-
self.get_logger().info(f"Activating {self.get_name()}")
82+
self.get_logger().info(f"[{self.get_name()}] Activating...")
8283

8384
# subs
8485
self.image_sub = message_filters.Subscriber(
@@ -90,25 +91,40 @@ def on_activate(self, state: LifecycleState) -> TransitionCallbackReturn:
9091
(self.image_sub, self.detections_sub), 10, 0.5)
9192
self._synchronizer.registerCallback(self.detections_cb)
9293

94+
super().on_activate(state)
95+
self.get_logger().info(f"[{self.get_name()}] Activated")
96+
9397
return TransitionCallbackReturn.SUCCESS
9498

9599
def on_deactivate(self, state: LifecycleState) -> TransitionCallbackReturn:
96-
self.get_logger().info(f"Deactivating {self.get_name()}")
100+
self.get_logger().info(f"[{self.get_name()}] Deactivating...")
97101

98102
self.destroy_subscription(self.image_sub.sub)
99103
self.destroy_subscription(self.detections_sub.sub)
100104

101105
del self._synchronizer
102106

107+
super().on_deactivate(state)
108+
self.get_logger().info(f"[{self.get_name()}] Deactivated")
109+
103110
return TransitionCallbackReturn.SUCCESS
104111

105112
def on_cleanup(self, state: LifecycleState) -> TransitionCallbackReturn:
106-
self.get_logger().info(f"Cleaning up {self.get_name()}")
113+
self.get_logger().info(f"[{self.get_name()}] Cleaning up...")
107114

108115
self.destroy_publisher(self._dbg_pub)
109116
self.destroy_publisher(self._bb_markers_pub)
110117
self.destroy_publisher(self._kp_markers_pub)
111118

119+
super().on_cleanup(state)
120+
self.get_logger().info(f"[{self.get_name()}] Cleaned up")
121+
122+
return TransitionCallbackReturn.SUCCESS
123+
124+
def on_shutdown(self, state: LifecycleState) -> TransitionCallbackReturn:
125+
self.get_logger().info(f"[{self.get_name()}] Shutting down...")
126+
super().on_cleanup(state)
127+
self.get_logger().info(f"[{self.get_name()}] Shutted down")
112128
return TransitionCallbackReturn.SUCCESS
113129

114130
def draw_box(self, cv_image: np.ndarray, detection: Detection, color: Tuple[int]) -> np.ndarray:

‎yolov8_ros/yolov8_ros/detect_3d_node.py

+20-4
Original file line numberDiff line numberDiff line change
@@ -61,7 +61,7 @@ def __init__(self) -> None:
6161
self.cv_bridge = CvBridge()
6262

6363
def on_configure(self, state: LifecycleState) -> TransitionCallbackReturn:
64-
self.get_logger().info(f"Configuring {self.get_name()}")
64+
self.get_logger().info(f"[{self.get_name()}] Configuring...")
6565

6666
self.target_frame = self.get_parameter(
6767
"target_frame").get_parameter_value().string_value
@@ -93,10 +93,13 @@ def on_configure(self, state: LifecycleState) -> TransitionCallbackReturn:
9393
# pubs
9494
self._pub = self.create_publisher(DetectionArray, "detections_3d", 10)
9595

96+
super().on_configure(state)
97+
self.get_logger().info(f"[{self.get_name()}] Configured")
98+
9699
return TransitionCallbackReturn.SUCCESS
97100

98101
def on_activate(self, state: LifecycleState) -> TransitionCallbackReturn:
99-
self.get_logger().info(f"Activating {self.get_name()}")
102+
self.get_logger().info(f"[{self.get_name()}] Activating...")
100103

101104
# subs
102105
self.depth_sub = message_filters.Subscriber(
@@ -112,26 +115,39 @@ def on_activate(self, state: LifecycleState) -> TransitionCallbackReturn:
112115
(self.depth_sub, self.depth_info_sub, self.detections_sub), 10, 0.5)
113116
self._synchronizer.registerCallback(self.on_detections)
114117

118+
super().on_activate(state)
119+
self.get_logger().info(f"[{self.get_name()}] Activated")
120+
115121
return TransitionCallbackReturn.SUCCESS
116122

117123
def on_deactivate(self, state: LifecycleState) -> TransitionCallbackReturn:
118-
self.get_logger().info(f"Deactivating {self.get_name()}")
124+
self.get_logger().info(f"[{self.get_name()}] Deactivating...")
119125

120126
self.destroy_subscription(self.depth_sub.sub)
121127
self.destroy_subscription(self.depth_info_sub.sub)
122128
self.destroy_subscription(self.detections_sub.sub)
123129

124130
del self._synchronizer
125131

132+
super().on_deactivate(state)
133+
self.get_logger().info(f"[{self.get_name()}] Deactivated")
134+
126135
return TransitionCallbackReturn.SUCCESS
127136

128137
def on_cleanup(self, state: LifecycleState) -> TransitionCallbackReturn:
129-
self.get_logger().info(f"Cleaning up {self.get_name()}")
138+
self.get_logger().info(f"[{self.get_name()}] Cleaning up...")
130139

131140
del self.tf_listener
132141

133142
self.destroy_publisher(self._pub)
134143

144+
super().on_cleanup(state)
145+
self.get_logger().info(f"[{self.get_name()}] Cleaned up")
146+
147+
def on_shutdown(self, state: LifecycleState) -> TransitionCallbackReturn:
148+
self.get_logger().info(f"[{self.get_name()}] Shutting down...")
149+
super().on_cleanup(state)
150+
self.get_logger().info(f"[{self.get_name()}] Shutted down")
135151
return TransitionCallbackReturn.SUCCESS
136152

137153
def on_detections(

‎yolov8_ros/yolov8_ros/tracking_node.py

+22-4
Original file line numberDiff line numberDiff line change
@@ -51,7 +51,7 @@ def __init__(self) -> None:
5151
self.cv_bridge = CvBridge()
5252

5353
def on_configure(self, state: LifecycleState) -> TransitionCallbackReturn:
54-
self.get_logger().info(f"Configuring {self.get_name()}")
54+
self.get_logger().info(f"[{self.get_name()}] Configuring...")
5555

5656
tracker_name = self.get_parameter(
5757
"tracker").get_parameter_value().string_value
@@ -62,10 +62,13 @@ def on_configure(self, state: LifecycleState) -> TransitionCallbackReturn:
6262
self.tracker = self.create_tracker(tracker_name)
6363
self._pub = self.create_publisher(DetectionArray, "tracking", 10)
6464

65+
super().on_configure(state)
66+
self.get_logger().info(f"[{self.get_name()}] Configured")
67+
6568
return TransitionCallbackReturn.SUCCESS
6669

6770
def on_activate(self, state: LifecycleState) -> TransitionCallbackReturn:
68-
self.get_logger().info(f"Activating {self.get_name()}")
71+
self.get_logger().info(f"[{self.get_name()}] Activating...")
6972

7073
image_qos_profile = QoSProfile(
7174
reliability=self.image_reliability,
@@ -84,24 +87,39 @@ def on_activate(self, state: LifecycleState) -> TransitionCallbackReturn:
8487
(image_sub, detections_sub), 10, 0.5)
8588
self._synchronizer.registerCallback(self.detections_cb)
8689

90+
super().on_activate(state)
91+
self.get_logger().info(f"[{self.get_name()}] Activated")
92+
8793
return TransitionCallbackReturn.SUCCESS
8894

8995
def on_deactivate(self, state: LifecycleState) -> TransitionCallbackReturn:
90-
self.get_logger().info(f"Deactivating {self.get_name()}")
96+
self.get_logger().info(f"[{self.get_name()}] Deactivating...")
9197

9298
self.destroy_subscription(self.image_sub.sub)
9399
self.destroy_subscription(self.detections_sub.sub)
94100

95101
del self._synchronizer
96102
self._synchronizer = None
97103

104+
super().on_deactivate(state)
105+
self.get_logger().info(f"[{self.get_name()}] Deactivated")
106+
98107
return TransitionCallbackReturn.SUCCESS
99108

100109
def on_cleanup(self, state: LifecycleState) -> TransitionCallbackReturn:
101-
self.get_logger().info(f"Cleaning up {self.get_name()}")
110+
self.get_logger().info(f"[{self.get_name()}] Cleaning up...")
102111

103112
del self.tracker
104113

114+
super().on_cleanup(state)
115+
self.get_logger().info(f"[{self.get_name()}] Cleaned up")
116+
117+
return TransitionCallbackReturn.SUCCESS
118+
119+
def on_shutdown(self, state: LifecycleState) -> TransitionCallbackReturn:
120+
self.get_logger().info(f"[{self.get_name()}] Shutting down...")
121+
super().on_cleanup(state)
122+
self.get_logger().info(f"[{self.get_name()}] Shutted down")
105123
return TransitionCallbackReturn.SUCCESS
106124

107125
def create_tracker(self, tracker_yaml: str) -> BaseTrack:

‎yolov8_ros/yolov8_ros/yolov8_node.py

+18-6
Original file line numberDiff line numberDiff line change
@@ -64,10 +64,8 @@ def __init__(self) -> None:
6464
"NAS": NAS
6565
}
6666

67-
self.get_logger().info("Yolov8 Node created")
68-
6967
def on_configure(self, state: LifecycleState) -> TransitionCallbackReturn:
70-
self.get_logger().info(f"Configuring {self.get_name()}")
68+
self.get_logger().info(f"[{self.get_name()}] Configuring...")
7169

7270
self.model_type = self.get_parameter(
7371
"model_type").get_parameter_value().string_value
@@ -101,10 +99,13 @@ def on_configure(self, state: LifecycleState) -> TransitionCallbackReturn:
10199
)
102100
self.cv_bridge = CvBridge()
103101

102+
super().on_configure(state)
103+
self.get_logger().info(f"[{self.get_name()}] Configured")
104+
104105
return TransitionCallbackReturn.SUCCESS
105106

106107
def on_activate(self, state: LifecycleState) -> TransitionCallbackReturn:
107-
self.get_logger().info(f"Activating {self.get_name()}")
108+
self.get_logger().info(f"[{self.get_name()}] Activating...")
108109

109110
self.yolo = self.type_to_model[self.model_type](self.model)
110111
self.yolo.fuse()
@@ -118,11 +119,12 @@ def on_activate(self, state: LifecycleState) -> TransitionCallbackReturn:
118119
)
119120

120121
super().on_activate(state)
122+
self.get_logger().info(f"[{self.get_name()}] Activated")
121123

122124
return TransitionCallbackReturn.SUCCESS
123125

124126
def on_deactivate(self, state: LifecycleState) -> TransitionCallbackReturn:
125-
self.get_logger().info(f"Deactivating {self.get_name()}")
127+
self.get_logger().info(f"[{self.get_name()}] Deactivating...")
126128

127129
del self.yolo
128130
if "cuda" in self.device:
@@ -133,16 +135,26 @@ def on_deactivate(self, state: LifecycleState) -> TransitionCallbackReturn:
133135
self._sub = None
134136

135137
super().on_deactivate(state)
138+
self.get_logger().info(f"[{self.get_name()}] Deactivated")
136139

137140
return TransitionCallbackReturn.SUCCESS
138141

139142
def on_cleanup(self, state: LifecycleState) -> TransitionCallbackReturn:
140-
self.get_logger().info(f"Cleaning up {self.get_name()}")
143+
self.get_logger().info(f"[{self.get_name()}] Cleaning up...")
141144

142145
self.destroy_publisher(self._pub)
143146

144147
del self.image_qos_profile
145148

149+
super().on_cleanup(state)
150+
self.get_logger().info(f"[{self.get_name()}] Cleaned up")
151+
152+
return TransitionCallbackReturn.SUCCESS
153+
154+
def on_shutdown(self, state: LifecycleState) -> TransitionCallbackReturn:
155+
self.get_logger().info(f"[{self.get_name()}] Shutting down...")
156+
super().on_cleanup(state)
157+
self.get_logger().info(f"[{self.get_name()}] Shutted down")
146158
return TransitionCallbackReturn.SUCCESS
147159

148160
def enable_cb(self, request: SetBool.Request, response: SetBool.Response) -> SetBool.Response:

0 commit comments

Comments
 (0)