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Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

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Debugging messages

It is good practice to include messages that indicate what the program is doing. However, we must do it without compromising the efficiency of our software and the clearance of its output. In ROS, we have an API that covers both features and is built on top of log4cxx (a port of the well-known log4j logger library). In brief, we have several levels of messages, which might have a name depending on a condition or even throttle, with a null footprint on the performance and full integration with other tools in the ROS framework. Also, they are integrated seamlessly with the concurrent execution of nodes, that is, the messages do not get split, but they can be interleaved according to their timestamps. In the following sections, ...

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