Merge branch 'improve_logging' into add_new_msg_srv

Author: Myzhar

CHANGELOG.rst

@@ -1,6 +1,10 @@
 LATEST CHANGES
 ==============
 
+2025-04-18
+----------
+- Add parameter 'debug.sdk_verbose_log_file' to Stereo and Mono components to set the path of the SDK verbose log file
+
 2025-04-16
 ----------
 - Fix realtime IMU data publishing when using SVO2

zed_components/src/zed_camera/include/zed_camera_component.hpp

@@ -318,6 +318,7 @@ class ZedCamera : public rclcpp::Node
   int mSvoFrameStart = 0;
   bool mUseSvoTimestamp = false;
   int mVerbose = 1;
+  std::string mVerboseLogFile = "";
   int mGpuId = -1;
   std::string mOpencvCalibFile;
   sl::RESOLUTION mCamResol = sl::RESOLUTION::HD1080;    // Default resolution: RESOLUTION_HD1080

zed_components/src/zed_camera/include/zed_camera_one_component.hpp

@@ -214,6 +214,7 @@ class ZedCameraOne : public rclcpp::Node
   bool _enableHDR = false; // Enable HDR if supported?
   std::string _opencvCalibFile; // Custom OpenCV calibration file
   int _sdkVerbose = 0; // SDK verbose level
+  std::string _sdkVerboseLogFile = ""; // SDK Verbose Log file
   int _gpuId = -1; // GPU ID
 
   int _camSerialNumber = 0; // Camera serial number

zed_components/src/zed_camera/src/zed_camera_component.cpp

@@ -541,6 +541,9 @@ void ZedCamera::getDebugParams()
   RCLCPP_INFO(get_logger(), "*** DEBUG parameters ***");
 
   getParam("debug.sdk_verbose", mVerbose, mVerbose, " * SDK Verbose: ");
+  getParam(
+    "debug.sdk_verbose_log_file", mVerboseLogFile, mVerboseLogFile,
+    " * SDK Verbose File: ");
 
   getParam("debug.debug_common", _debugCommon, _debugCommon);
   RCLCPP_INFO(
@@ -4013,6 +4016,7 @@ bool ZedCamera::startCamera()
   mInitParams.coordinate_units = ROS_MEAS_UNITS;
   mInitParams.depth_mode = mDepthMode;
   mInitParams.sdk_verbose = mVerbose;
+  mInitParams.sdk_verbose_log_file = mVerboseLogFile;
   mInitParams.sdk_gpu_id = mGpuId;
   mInitParams.depth_stabilization = mDepthStabilization;
   mInitParams.camera_image_flip = (mCameraFlip ? sl::FLIP_MODE::ON : sl::FLIP_MODE::OFF);

zed_components/src/zed_camera/src/zed_camera_one_component.cpp

@@ -438,6 +438,9 @@ void ZedCameraOne::getDebugParams()
   RCLCPP_INFO(get_logger(), "*** DEBUG parameters ***");
 
   getParam("debug.sdk_verbose", _sdkVerbose, _sdkVerbose, " * SDK Verbose: ", false, 0, 1000);
+  getParam(
+    "debug.sdk_verbose_log_file", _sdkVerboseLogFile, _sdkVerboseLogFile,
+    " * SDK Verbose File: ");
 
   getParam("debug.debug_common", _debugCommon, _debugCommon, " * Debug Common: ");
   getParam("debug.debug_video_depth", _debugVideoDepth, _debugVideoDepth, " * Debug Image/Depth: ");
@@ -701,6 +704,7 @@ bool ZedCameraOne::startCamera()
     _initParams.optional_opencv_calibration_file = _opencvCalibFile.c_str();
   }
   _initParams.sdk_verbose = _sdkVerbose;
+  _initParams.sdk_verbose_log_file = _sdkVerboseLogFile;
   // <---- ZED configuration
 
   // ----> Try to connect to a camera, to a stream, or to load an SVO

zed_wrapper/config/common_mono.yaml

@@ -54,6 +54,7 @@
 
         debug:
             sdk_verbose: 1 # Set the verbose level of the ZED SDK
+            sdk_verbose_log_file: '' # Path to the file where the ZED SDK will log its messages. If empty, no file will be created. The log level can be set using the `sdk_verbose` parameter.
             debug_common: false
             debug_video_depth: false
             debug_camera_controls: false

zed_wrapper/config/common_stereo.yaml

@@ -172,6 +172,7 @@
 
         debug:
             sdk_verbose: 1 # Set the verbose level of the ZED SDK
+            sdk_verbose_log_file: '' # Path to the file where the ZED SDK will log its messages. If empty, no file will be created. The log level can be set using the `sdk_verbose` parameter.
             debug_common: false
             debug_sim: false
             debug_video_depth: false