Unify log names (#2720)

Co-authored-by: Abishalini Sivaraman <[email protected]>
moveit · Mar 15, 2024 · f06f38b · f06f38b
1 parent e65491e
commit f06f38b
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Showing 166 changed files with 201 additions and 184 deletions.
diff --git a/moveit_core/collision_detection/src/allvalid/collision_env_allvalid.cpp b/moveit_core/collision_detection/src/allvalid/collision_env_allvalid.cpp
@@ -46,7 +46,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection.world_allvalid");
+  return moveit::getLogger("moveit.core.collision_detection.env_allvalid");
 }
 }  // namespace
 

diff --git a/moveit_core/collision_detection/src/collision_common.cpp b/moveit_core/collision_detection/src/collision_common.cpp
@@ -46,7 +46,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_common");
+  return moveit::getLogger("moveit.core.collision_detection.collision_common");
 }
 }  // namespace
 

diff --git a/moveit_core/collision_detection/src/collision_env.cpp b/moveit_core/collision_detection/src/collision_env.cpp
@@ -44,7 +44,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_env");
+  return moveit::getLogger("moveit.core.collision_detection_env");
 }
 }  // namespace
 

diff --git a/moveit_core/collision_detection/src/collision_matrix.cpp b/moveit_core/collision_detection/src/collision_matrix.cpp
@@ -47,7 +47,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_matrix");
+  return moveit::getLogger("moveit.core.collision_detection_matrix");
 }
 }  // namespace
 

diff --git a/moveit_core/collision_detection/src/collision_octomap_filter.cpp b/moveit_core/collision_detection/src/collision_octomap_filter.cpp
@@ -49,7 +49,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_octomap_filter");
+  return moveit::getLogger("moveit.core.collision_detection_octomap_filter");
 }
 }  // namespace
 

diff --git a/moveit_core/collision_detection/src/collision_plugin_cache.cpp b/moveit_core/collision_detection/src/collision_plugin_cache.cpp
@@ -45,7 +45,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_plugin_cache");
+  return moveit::getLogger("moveit.core.collision_detection_plugin_cache");
 }
 }  // namespace
 

diff --git a/moveit_core/collision_detection/src/world.cpp b/moveit_core/collision_detection/src/world.cpp
@@ -46,7 +46,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_world");
+  return moveit::getLogger("moveit.core.collision_detection_world");
 }
 }  // namespace
 

diff --git a/moveit_core/collision_detection_bullet/src/bullet_integration/ros_bullet_utils.cpp b/moveit_core/collision_detection_bullet/src/bullet_integration/ros_bullet_utils.cpp
@@ -115,6 +115,6 @@ Eigen::Isometry3d urdfPose2Eigen(const urdf::Pose& pose)
 
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection_bullet");
+  return moveit::getLogger("moveit.core.collision_detection_bullet");
 }
 }  // namespace collision_detection_bullet
diff --git a/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp b/moveit_core/collision_detection_bullet/test/test_bullet_continuous_collision_checking.cpp
@@ -56,7 +56,7 @@ namespace cb = collision_detection_bullet;
 
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_detection.bullet_test");
+  return moveit::getLogger("moveit.core.collision_detection.bullet_test");
 }
 
 /** \brief Brings the panda robot in user defined home position */

diff --git a/moveit_core/collision_detection_fcl/src/collision_common.cpp b/moveit_core/collision_detection_fcl/src/collision_common.cpp
@@ -60,7 +60,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("moveit_collision_detection_fcl");
+  return moveit::getLogger("moveit.core.moveit_collision_detection_fcl");
 }
 }  // namespace
 

diff --git a/moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp b/moveit_core/collision_detection_fcl/src/collision_env_fcl.cpp
@@ -55,7 +55,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("moveit_collision_detection_fcl");
+  return moveit::getLogger("moveit.core.collision_detection_fcl");
 }
 
 // Check whether this FCL version supports the requested computations

diff --git a/moveit_core/collision_detection_fcl/test/test_fcl_env.cpp b/moveit_core/collision_detection_fcl/test/test_fcl_env.cpp
@@ -66,7 +66,7 @@ inline void setToHome(moveit::core::RobotState& panda_state)
 
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("moveit_collision_detection_fcl.test.test_fcl_env");
+  return moveit::getLogger("moveit.core.collision_detection_fcl.test_fcl_env");
 }
 
 class CollisionDetectionEnvTest : public testing::Test

diff --git a/...n_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h b/...n_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
@@ -373,7 +373,8 @@ class PosedBodySphereDecompositionVector
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  PosedBodySphereDecompositionVector() : logger_(moveit::getLogger("posed_body_sphere_decomposition_vector"))
+  PosedBodySphereDecompositionVector()
+    : logger_(moveit::getLogger("moveit.core.posed_body_sphere_decomposition_vector"))
   {
   }
 
@@ -447,7 +448,7 @@ class PosedBodyPointDecompositionVector
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
-  PosedBodyPointDecompositionVector() : logger_(moveit::getLogger("posed_body_point_decomposition_vector"))
+  PosedBodyPointDecompositionVector() : logger_(moveit::getLogger("moveit.core.posed_body_point_decomposition_vector"))
   {
   }
 

diff --git a/moveit_core/collision_distance_field/src/collision_common_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_common_distance_field.cpp
@@ -50,7 +50,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_common_distance_field");
+  return moveit::getLogger("moveit.core.collision_common_distance_field");
 }
 }  // namespace
 

diff --git a/moveit_core/collision_distance_field/src/collision_distance_field_types.cpp b/moveit_core/collision_distance_field/src/collision_distance_field_types.cpp
@@ -52,7 +52,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("collision_distance_field_types");
+  return moveit::getLogger("moveit.core.collision_distance_field_types");
 }
 }  // namespace
 

diff --git a/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
@@ -61,7 +61,7 @@ CollisionEnvDistanceField::CollisionEnvDistanceField(
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
     double size_z, const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution,
     double collision_tolerance, double max_propogation_distance, double /*padding*/, double /*scale*/)
-  : CollisionEnv(robot_model), logger_(moveit::getLogger("collision_robot_distance_field"))
+  : CollisionEnv(robot_model), logger_(moveit::getLogger("moveit.core.collision_robot_distance_field"))
 {
   initialize(link_body_decompositions, Eigen::Vector3d(size_x, size_y, size_z), origin, use_signed_distance_field,
              resolution, collision_tolerance, max_propogation_distance);
@@ -80,7 +80,8 @@ CollisionEnvDistanceField::CollisionEnvDistanceField(
     const std::map<std::string, std::vector<CollisionSphere>>& link_body_decompositions, double size_x, double size_y,
     double size_z, const Eigen::Vector3d& origin, bool use_signed_distance_field, double resolution,
     double collision_tolerance, double max_propogation_distance, double padding, double scale)
-  : CollisionEnv(robot_model, world, padding, scale), logger_(moveit::getLogger("collision_robot_distance_field"))
+  : CollisionEnv(robot_model, world, padding, scale)
+  , logger_(moveit::getLogger("moveit.core.collision_robot_distance_field"))
 {
   initialize(link_body_decompositions, Eigen::Vector3d(size_x, size_y, size_z), origin, use_signed_distance_field,
              resolution, collision_tolerance, max_propogation_distance);

diff --git a/moveit_core/constraint_samplers/src/constraint_sampler.cpp b/moveit_core/constraint_samplers/src/constraint_sampler.cpp
@@ -45,7 +45,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("constraint_sampler");
+  return moveit::getLogger("moveit.core.constraint_sampler");
 }
 }  // namespace
 

diff --git a/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp b/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp
@@ -48,7 +48,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("constraint_sampler_manager");
+  return moveit::getLogger("moveit.core.constraint_sampler_manager");
 }
 }  // namespace
 

diff --git a/moveit_core/constraint_samplers/src/constraint_sampler_tools.cpp b/moveit_core/constraint_samplers/src/constraint_sampler_tools.cpp
@@ -49,7 +49,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("constraint_sampler_tools");
+  return moveit::getLogger("moveit.core.constraint_sampler_tools");
 }
 }  // namespace
 

diff --git a/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp b/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
@@ -47,7 +47,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("default_constraint_samplers");
+  return moveit::getLogger("moveit.core.default_constraint_samplers");
 }
 }  // namespace
 

diff --git a/moveit_core/constraint_samplers/src/union_constraint_sampler.cpp b/moveit_core/constraint_samplers/src/union_constraint_sampler.cpp
@@ -47,7 +47,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("union_constraint_sampler");
+  return moveit::getLogger("moveit.core.union_constraint_sampler");
 }
 }  // namespace
 

diff --git a/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp b/moveit_core/constraint_samplers/test/pr2_arm_ik.cpp
@@ -54,7 +54,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("moveit_constaint_samplers.test.pr2_arm_ik");
+  return moveit::getLogger("moveit.core.moveit_constaint_samplers.test.pr2_arm_ik");
 }
 }  // namespace
 

diff --git a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp
@@ -53,7 +53,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("moveit_constraint_samplers.test.pr2_arm_kinematics_plugin");
+  return moveit::getLogger("moveit.core.moveit_constraint_samplers.test.pr2_arm_kinematics_plugin");
 }
 }  // namespace
 

diff --git a/moveit_core/distance_field/src/distance_field.cpp b/moveit_core/distance_field/src/distance_field.cpp
@@ -51,7 +51,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("distance_field");
+  return moveit::getLogger("moveit.core.distance_field");
 }
 }  // namespace
 

diff --git a/moveit_core/distance_field/src/propagation_distance_field.cpp b/moveit_core/distance_field/src/propagation_distance_field.cpp
@@ -49,7 +49,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("propagation_distance_field");
+  return moveit::getLogger("moveit.core.propagation_distance_field");
 }
 }  // namespace
 

diff --git a/moveit_core/dynamics_solver/src/dynamics_solver.cpp b/moveit_core/dynamics_solver/src/dynamics_solver.cpp
@@ -49,7 +49,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("dynamics_solver");
+  return moveit::getLogger("moveit.core.dynamics_solver");
 }
 }  // namespace
 

diff --git a/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp b/moveit_core/kinematic_constraints/src/kinematic_constraint.cpp
@@ -60,7 +60,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("kinematic_constraints");
+  return moveit::getLogger("moveit.core.kinematic_constraints");
 }
 }  // namespace
 

diff --git a/moveit_core/kinematic_constraints/src/utils.cpp b/moveit_core/kinematic_constraints/src/utils.cpp
@@ -57,7 +57,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("moveit_kinematic_constraints");
+  return moveit::getLogger("moveit.core.kinematic_constraints");
 }
 }  // namespace
 

diff --git a/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h b/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
@@ -322,7 +322,7 @@ class MOVEIT_KINEMATICS_BASE_EXPORT KinematicsBase
     }
 
     // Otherwise throw error because this function should have been implemented
-    RCLCPP_ERROR(moveit::getLogger("kinematics_base"),
+    RCLCPP_ERROR(moveit::getLogger("moveit.core.kinematics_base"),
                  "This kinematic solver does not support searchPositionIK with multiple poses");
     return false;
   }
@@ -363,7 +363,7 @@ class MOVEIT_KINEMATICS_BASE_EXPORT KinematicsBase
       return searchPositionIK(ik_poses, ik_seed_state, timeout, consistency_limits, solution, solution_callback,
                               error_code, options, context_state);
     }
-    RCLCPP_ERROR(moveit::getLogger("kinematics_base"),
+    RCLCPP_ERROR(moveit::getLogger("moveit.core.kinematics_base"),
                  "This kinematic solver does not support IK solution cost functions");
     return false;
   }
@@ -437,8 +437,9 @@ class MOVEIT_KINEMATICS_BASE_EXPORT KinematicsBase
   {
     if (tip_frames_.size() > 1)
     {
-      RCLCPP_ERROR(moveit::getLogger("kinematics_base"), "This kinematic solver has more than one tip frame, "
-                                                         "do not call getTipFrame()");
+      RCLCPP_ERROR(moveit::getLogger("moveit.core.kinematics_base"),
+                   "This kinematic solver has more than one tip frame, "
+                   "do not call getTipFrame()");
     }
 
     return tip_frames_[0];

diff --git a/moveit_core/kinematics_base/src/kinematics_base.cpp b/moveit_core/kinematics_base/src/kinematics_base.cpp
@@ -45,7 +45,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("kinematics_base");
+  return moveit::getLogger("moveit.core.kinematics_base");
 }
 }  // namespace
 

diff --git a/moveit_core/kinematics_metrics/src/kinematics_metrics.cpp b/moveit_core/kinematics_metrics/src/kinematics_metrics.cpp
@@ -49,7 +49,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("kinematics_metrics");
+  return moveit::getLogger("moveit.core.kinematics_metrics");
 }
 }  // namespace
 

diff --git a/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp b/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp
@@ -43,7 +43,7 @@ namespace online_signal_smoothing
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("AccelerationLimitedPlugin");
+  return moveit::getLogger("moveit.core.acceleration_limited_plugin");
 }
 
 // The threshold below which any velocity or position difference is considered zero (rad and rad/s).

diff --git a/moveit_core/planning_interface/src/planning_interface.cpp b/moveit_core/planning_interface/src/planning_interface.cpp
@@ -47,7 +47,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("planning_interface");
+  return moveit::getLogger("moveit.core.planning_interface");
 }
 }  // namespace
 

diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -59,7 +59,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("planning_scene");
+  return moveit::getLogger("moveit.core.planning_scene");
 }
 }  // namespace
 

diff --git a/moveit_core/robot_model/src/floating_joint_model.cpp b/moveit_core/robot_model/src/floating_joint_model.cpp
@@ -54,7 +54,7 @@ constexpr size_t STATE_SPACE_DIMENSION = 7;
 
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("floating_joint_model");
+  return moveit::getLogger("moveit.core.floating_joint_model");
 }
 
 }  // namespace

diff --git a/moveit_core/robot_model/src/joint_model_group.cpp b/moveit_core/robot_model/src/joint_model_group.cpp
@@ -54,7 +54,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("joint_model_group");
+  return moveit::getLogger("moveit.core.joint_model_group");
 }
 
 // check if a parent or ancestor of joint is included in this group

diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
@@ -54,7 +54,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("robot_model");
+  return moveit::getLogger("moveit.core.robot_model");
 }
 }  // namespace
 

diff --git a/moveit_core/robot_state/src/cartesian_interpolator.cpp b/moveit_core/robot_state/src/cartesian_interpolator.cpp
@@ -57,7 +57,7 @@ namespace
 
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("cartesian_interpolator");
+  return moveit::getLogger("moveit.core.cartesian_interpolator");
 }
 
 std::optional<int> hasRelativeJointSpaceJump(const std::vector<moveit::core::RobotStatePtr>& waypoints,

diff --git a/moveit_core/robot_state/src/conversions.cpp b/moveit_core/robot_state/src/conversions.cpp
@@ -56,7 +56,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("conversions");
+  return moveit::getLogger("moveit.core.conversions");
 }
 
 bool jointStateToRobotStateImpl(const sensor_msgs::msg::JointState& joint_state, RobotState& state)

diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
@@ -59,7 +59,7 @@ namespace
 {
 rclcpp::Logger getLogger()
 {
-  return moveit::getLogger("robot_state");
+  return moveit::getLogger("moveit.core.robot_state");
 }
 }  // namespace