Logging and Routing

The CLIPS Environment manager provides a custom CLIPS logger that logs CLIPS output to ROS and also saves CLIPS output of each environment to files if configured so. The log files are stored at the ROS logging directory “~/.ros/log/” and are named using the name of the environment followed by a timestamp.

For log routing inside CLIPS, the custom loggers accepts the following logical names that log to the file and additionally also in some cases to ROS:

• l, t, info, loginfo log via RCLCPP_INFO

• green, blue, yellow, magenta, cyan, white, bold log via RCLCPP_INFO with additional ANSI escape codes for color output (for terminals that support them)

• debug, logdebug log via RCLCPP_DEBUG

• warn, logwarn, stdwrn log via RCLCPP_WARN

• error, logerror, stderr log via RCLCPP_ERROR

• stdout logs via RCLPP_INFO unless the environment has the configuration redirect_stdout_to_debug set to true, then it logs via RCLCPP_DEBUG