Krishna/clear logs

src/steelhead_gazebo/README.md

@@ -194,9 +194,31 @@ At this point your model should be ready to be added to a Gazebo world, you can
 
 [How to import Solidworks model into Gazebo](https://docs.google.com/document/d/1LrzAUCPOdZPh-uzIDg-aMNJGaX13d3AJjA7XWy2pFQQ/edit)
 
+
+## Debugging / Verbose Logging
+By default, `gazebo_launch.py` runs gzserver with `verbose:=false` to keep the terminal
+clean. If you need to see Gazebo's internal debug output (e.g. plugin parameter loading,
+SDF parsing details), run with:
+
+    ros2 launch steelhead_gazebo gazebo_launch.py verbose:=true
+
+Even with `verbose:=true`, most of the detailed parameter dumps (added_mass matrices,
+damping vectors, etc.) are written to Gazebo's log file rather than the terminal, to
+avoid flooding the console. If you need to inspect these, check the gzserver log,
+which is written to a PID-specific folder under `~/.gazebo/`, e.g.:
+
+    ~/.gazebo/server-11345/default.log
+
+The PID changes every run, so use `ls ~/.gazebo/` to find the most recent `server-*`
+folder if you're not sure which one to check.
+
+This is the first place to look if you suspect a hydrodynamics plugin isn't picking up
+an SDF parameter correctly, but don't see anything obviously wrong in the terminal output.
+
 ## Contributors
 
 - Logan Fillo (logan.fillo@gmail.com)
 - Jake Cronin (jcronin97@live.ca)
 - Kevin Huang (kevinh42@student.ubc.ca)
 - Jared Chan (jaredchan42@gmail.com)
+- Krishna Garcha (garchakri@gmail.com)

src/steelhead_gazebo/gazebo_utils/include/gazebo_utils.hpp

@@ -31,7 +31,7 @@ namespace steelhead_gazebo
             value = _sdf->Get<parameter>(param);
             *status = true;
         }
-        gzdbg << param << ": " << value << std::endl;
+        gzlog << param << ": " << value << std::endl;
         return value;
     }
 

src/steelhead_gazebo/gazebo_utils/src/gazebo_utils.cpp

@@ -32,7 +32,7 @@ namespace steelhead_gazebo
             gzdbg << "Vector parameter '" << param << "' contained " << idx << " values; using defaults for remaining " << (MAX_DIMENSION - idx) << ".\n";
         }
         *status = true;
-        gzdbg << param << ": \n" << _vector << std::endl;
+        gzlog << param << ": \n" << _vector << std::endl;
 
         return _vector;
     }
@@ -69,7 +69,6 @@ namespace steelhead_gazebo
         }
         *status = true;
         gzdbg << param << ": \n" << _matrix << std::endl;
-
         return _matrix;
     }
 

src/steelhead_gazebo/launch/gazebo_launch.py

@@ -24,6 +24,12 @@ def generate_launch_description():
             default_value='false',
             description="Set to 'true' to run gazebo headless"
     )
+
+    verbose_arg = DeclareLaunchArgument(
+        'verbose',
+        default_value='false',
+        description="Set to 'true' for verbose gzserver debug output"
+    )
 
     # We need to add the models and worlds directories to env so gazebo can find them
     steelhead_gazebo_dir = get_package_share_directory('steelhead_gazebo')
@@ -53,7 +59,8 @@ def generate_launch_description():
         ),
         launch_arguments={
             'world': ['worlds/', LaunchConfiguration('world')],
-            'verbose': 'true'
+            'verbose': LaunchConfiguration('verbose')
+            # 'verbose': 'true'
             }.items()
     )
 
@@ -67,6 +74,7 @@ def generate_launch_description():
 
     ld.add_action(world_arg)
     ld.add_action(headless_arg)
+    ld.add_action(verbose_arg)
     ld.add_action(add_model_path)
     ld.add_action(add_resource_path)
     ld.add_action(gazebo_server)

src/steelhead_gazebo/src/smooth_camera_plugin.cpp

@@ -131,6 +131,7 @@ namespace steelhead_gazebo
                     phi = -1;
                     incr_phi = 0;
                     std::cout << "END ME PLEASE" << std::endl;
+                    // gzmsg << "SmoothCamera: completed orbit sweep across full radius range [" << radius_range_[0] << ", " << radius_range_[1] << "]. Camera will stop moving.\n";
                     return;
                 }
             }