Feature: add logger_name property to subscription, publisher, service and client (backport #1471)

rclpy/rclpy/client.py

@@ -216,6 +216,12 @@ def service_name(self) -> str:
         with self.handle:
             return self.__client.service_name
 
+    @property
+    def logger_name(self) -> str:
+        """Get the name of the logger associated with the node of the client."""
+        with self.handle:
+            return self.__client.get_logger_name()
+
     def destroy(self):
         """
         Destroy a container for a ROS service client.

rclpy/rclpy/publisher.py

@@ -87,6 +87,12 @@ def topic_name(self) -> str:
     def handle(self):
         return self.__publisher
 
+    @property
+    def logger_name(self) -> str:
+        """Get the name of the logger associated with the node of the publisher."""
+        with self.handle:
+            return self.__publisher.get_logger_name()
+
     def destroy(self):
         """
         Destroy a container for a ROS publisher.

rclpy/rclpy/service.py

@@ -107,6 +107,12 @@ def service_name(self) -> str:
         with self.handle:
             return self.__service.name
 
+    @property
+    def logger_name(self) -> str:
+        """Get the name of the logger associated with the node of the service."""
+        with self.handle:
+            return self.__service.get_logger_name()
+
     def destroy(self):
         """
         Destroy a container for a ROS service server.

rclpy/rclpy/subscription.py

@@ -123,3 +123,9 @@ def callback(self, value):
         raise RuntimeError(
             'Subscription.__init__(): callback should be either be callable with one argument'
             '(to get only the message) or two (to get message and message info)')
+
+    @property
+    def logger_name(self) -> str:
+        """Get the name of the logger associated with the node of the subscription."""
+        with self.handle:
+            return self.__subscription.get_logger_name()

rclpy/src/rclpy/client.cpp

@@ -170,6 +170,17 @@ Client::get_service_name()
   return rcl_client_get_service_name(rcl_client_.get());
 }
 
+const char *
+Client::get_logger_name() const
+{
+  const char * node_logger_name = rcl_node_get_logger_name(node_.rcl_ptr());
+  if (!node_logger_name) {
+    throw RCLError("Node logger name not set");
+  }
+
+  return node_logger_name;
+}
+
 void
 define_client(py::object module)
 {
@@ -194,6 +205,9 @@ define_client(py::object module)
     "Take a received response from an earlier request")
   .def(
     "configure_introspection", &Client::configure_introspection,
-    "Configure whether introspection is enabled");
+    "Configure whether introspection is enabled")
+  .def(
+    "get_logger_name", &Client::get_logger_name,
+    "Get the name of the logger associated with the node of the client.");
 }
 }  // namespace rclpy

rclpy/src/rclpy/client.hpp

@@ -109,6 +109,15 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
   const char *
   get_service_name();
 
+  /// Get the name of the logger associated with the node of the client.
+  /**
+   *
+   * \return logger_name, or
+   * \return None on failure
+   */
+  const char *
+  get_logger_name() const;
+
 private:
   Node node_;
   std::shared_ptr<rcl_client_t> rcl_client_;

rclpy/src/rclpy/service.cpp

@@ -155,6 +155,17 @@ Service::get_qos_profile()
   return rclpy::convert_to_qos_dict(&options->qos);
 }
 
+const char *
+Service::get_logger_name() const
+{
+  const char * node_logger_name = rcl_node_get_logger_name(node_.rcl_ptr());
+  if (!node_logger_name) {
+    throw RCLError("Node logger name not set");
+  }
+
+  return node_logger_name;
+}
+
 void
 Service::configure_introspection(
   Clock & clock, py::object pyqos_service_event_pub,
@@ -197,6 +208,9 @@ define_service(py::object module)
     "Take a request from a given service")
   .def(
     "configure_introspection", &Service::configure_introspection,
-    "Configure whether introspection is enabled");
+    "Configure whether introspection is enabled")
+  .def(
+    "get_logger_name", &Service::get_logger_name,
+    "Get the name of the logger associated with the node of the service.");
 }
 }  // namespace rclpy

rclpy/src/rclpy/service.hpp

@@ -95,6 +95,15 @@ class Service : public Destroyable, public std::enable_shared_from_this<Service>
   const char *
   get_service_name();
 
+  /// Get the name of the logger associated with the node of the service.
+  /**
+   *
+   * \return logger_name, or
+   * \return None on failure
+   */
+  const char *
+  get_logger_name() const;
+
   /// Get the QoS profile for this service.
   py::dict
   get_qos_profile();

rclpy/test/test_client.py

@@ -242,6 +242,11 @@ def _service(request, response):
             self.node.destroy_client(cli)
             self.node.destroy_service(srv)
 
+    def test_logger_name_is_equal_to_node_name(self):
+        cli = self.node.create_client(GetParameters, 'get/parameters')
+        self.assertEqual(cli.logger_name, 'TestClient')
+        self.node.destroy_client(cli)
+
 
 if __name__ == '__main__':
     unittest.main()

rclpy/test/test_publisher.py

@@ -125,6 +125,11 @@ def test_wait_for_all_acked(self):
         pub.destroy()
         sub.destroy()
 
+    def test_logger_name_is_equal_to_node_name(self) -> None:
+        pub = self.node.create_publisher(BasicTypes, TEST_TOPIC, 10)
+        self.assertEqual(pub.logger_name, 'node')
+        pub.destroy()
+
 
 if __name__ == '__main__':
     unittest.main()

rclpy/test/test_service.py

@@ -20,13 +20,33 @@
 from test_msgs.srv import Empty
 
 
+NODE_NAME = 'test_node'
+
+
 @pytest.fixture(autouse=True)
 def default_context():
     rclpy.init()
     yield
     rclpy.shutdown()
 
 
+@pytest.fixture
+def test_node():
+    node = Node(NODE_NAME)
+    yield node
+    node.destroy_node()
+
+
+def test_logger_name_is_equal_to_node_name(test_node):
+    srv = test_node.create_service(
+        srv_type=Empty,
+        srv_name='test_srv',
+        callback=lambda _: None
+    )
+
+    assert srv.logger_name == NODE_NAME
+
+
 @pytest.mark.parametrize('service_name, namespace, expected', [
     # No namespaces
     ('service', None, '/service'),

rclpy/test/test_subscription.py

@@ -23,11 +23,21 @@
 from test_msgs.msg import Empty
 
 
+NODE_NAME = 'test_node'
+
+
 @pytest.fixture(scope='session', autouse=True)
 def setup_ros():
     rclpy.init()
 
 
+@pytest.fixture
+def test_node():
+    node = Node(NODE_NAME)
+    yield node
+    node.destroy_node()
+
+
 @pytest.mark.parametrize('topic_name, namespace, expected', [
     # No namespaces
     ('topic', None, '/topic'),
@@ -56,6 +66,17 @@ def test_get_subscription_topic_name(topic_name, namespace, expected):
     node.destroy_node()
 
 
+def test_logger_name_is_equal_to_node_name(test_node):
+    sub = test_node.create_subscription(
+        msg_type=Empty,
+        topic='topic',
+        callback=lambda _: None,
+        qos_profile=10,
+    )
+
+    assert sub.logger_name == NODE_NAME
+
+
 @pytest.mark.parametrize('topic_name, namespace, cli_args, expected', [
     ('topic', None, ['--ros-args', '--remap', 'topic:=new_topic'], '/new_topic'),
     ('topic', 'ns', ['--ros-args', '--remap', 'topic:=new_topic'], '/ns/new_topic'),