made some corrections to mil_tools

mil_common/utils/mil_tools/mil_ros_tools/image_helpers.py

@@ -24,14 +24,16 @@ def get_parameter_range(parameter_root: str):
     """
     low_param, high_param = parameter_root + "/hsv_low", parameter_root + "/hsv_high"
 
-    rclpy.logwarn(f"Blocking -- waiting for parameters {low_param} and {high_param}")
+    Node.get_logger().warn(
+        f"Blocking -- waiting for parameters {low_param} and {high_param}",
+    )
 
     wait_for_param(low_param)
     wait_for_param(high_param)
     low = Node.declare_parameter(low_param)
     high = Node.declare_parameter(high_param)
 
-    Node.get_logger.info()(f"Got {low_param} and {high_param}")
+    Node.get_logger().info()(f"Got {low_param} and {high_param}")
     return np.array([low, high]).transpose()
 
 
@@ -82,7 +84,7 @@ def publish(self, cv_image: np.ndarray):
             self.im_pub.publish(image_message)
         except CvBridgeError as e:
             # Intentionally absorb CvBridge Errors
-            rclpy.logerr(str(e))
+            self.get_logger().warn(str(e))
 
 
 class Image_Subscriber:
@@ -142,7 +144,7 @@ def wait_for_camera_info(self, timeout: int = 10):
         Raises:
             Exception: No camera info was found after the timeout had finished.
         """
-        rclpy.logwarn(
+        self.get_logger().warn(
             "Blocking -- waiting at most %d seconds for camera info." % timeout,
         )
 
@@ -152,11 +154,11 @@ def wait_for_camera_info(self, timeout: int = 10):
 
         while (rclpy.Time.now() - start_time < timeout) and (not rclpy.is_shutdown()):
             if self.camera_info is not None:
-                rclpy.loginfo("Camera info found!")
+                self.get_logger().info("Camera info found!")
                 return self.camera_info
             rclpy.sleep(0.2)
 
-        rclpy.logerr("Camera info not found.")
+        self.get_logger().warn("Camera info not found.")
         raise Exception("Camera info not found.")
 
     def wait_for_camera_model(self, **kwargs):
@@ -204,7 +206,7 @@ def convert(self, data: Image):
             self.callback(image)
         except CvBridgeError as e:
             # Intentionally absorb CvBridge Errors
-            rclpy.logerr(e)
+            self.get_logger().warn(e)
 
 
 class StereoImageSubscriber:
@@ -377,4 +379,4 @@ def _image_callback(self, left_img: Image, right_img: Image):
             self.callback(img_left, img_right)
         except CvBridgeError as e:
             # Intentionally absorb CvBridge Errors
-            rclpy.logerr(e)
+            self.get_logger().warn(e)

mil_common/utils/mil_tools/mil_ros_tools/init_helpers.py

@@ -105,5 +105,5 @@ def wait_for_service(
     except rclpy.ROSException:
         if timeout is not None:
             timeout = timeout - warn_time
-        rclpy.logwarn(warn_msg)
+        Node.get_logger().warm(warn_msg)
         service.wait_for_service(timeout)

mil_common/utils/mil_tools/mil_ros_tools/mag_to_marker.py

@@ -60,7 +60,7 @@ def publish(self, vec: MagneticField):
         if self.length is not None:
             norm = np.linalg.norm(vec)
             if norm == 0:
-                rclpy.logwarn("Zero vector received, skipping")
+                self.get_logger().warn("Zero vector received, skipping")
                 return
             vec = (self.length / norm) * vec
         marker.points.append(numpy_to_point(vec))

mil_common/utils/mil_tools/mil_ros_tools/vector_to_marker.py

@@ -63,7 +63,7 @@ def publish(self, vec):
         if self.length is not None:
             norm = np.linalg.norm(vec)
             if norm == 0:
-                rclpy.logwarn("Zero vector received, skipping")
+                self.get_logger().warn("Zero vector received, skipping")
                 return
             vec = (self.length / norm) * vec
         marker.points.append(numpy_to_point(vec))

mil_common/utils/mil_tools/nodes/network_broadcaster.py

@@ -27,7 +27,7 @@ def __init__(self):
         hz = self.declare_parameter("~hz", 20)
         topic = self.declare_parameter("~topic", "network")
 
-        rclpy.loginfo(f"NETWORK BROADCASTER: publishing to {topic} at {hz}hz")
+        self.get_logger().info(f"NETWORK BROADCASTER: publishing to {topic} at {hz}hz")
         self.msg = Header()
         self.msg.seq = 0
         self.num_connections = -1

mil_common/utils/mil_tools/nodes/online_bagger.py

@@ -61,7 +61,7 @@ def __init__(self):
         self.streaming = True
         self.get_params()
         if len(self.subscriber_list) == 0:
-            rclpy.logwarn("No topics selected to subscribe to. Closing.")
+            self.get_logger().warn("No topics selected to subscribe to. Closing.")
             rclpy.signal_shutdown("No topics to subscribe to")
             return
         self.make_dicts()