Robot Operating System Cookbook

Getting ready

ROS has a great number of functions and macros to display log messages which support various verbosity levels, conditions, STL streams, throttling, and other special features. We are going to learn about these in this section.

We will start with a simple information message that prints the messages onto the console:

ROS_INFO( ""ROS INFO message."" );

As a result of running a program with the preceding message, the following outputs are shown on the screen:

[INFO] [1456880231.839068150]: ROS INFO message.

As we can see, all of the messages are printed with their verbosity and current timestamp followed by the actual message, which is both within square brackets. Moreover, this function also allows parameter arguments, just like ...