feat(loggers): add an rclcpp logger implementation

Signed-off-by: Max SCHMELLER <[email protected]>

nebula_ros/include/nebula_ros/common/rclcpp_logger.hpp

@@ -0,0 +1,59 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <nebula_common/loggers/logger.hpp>
+#include <rclcpp/logger.hpp>
+#include <rclcpp/logging.hpp>
+
+#include <memory>
+#include <string>
+
+namespace nebula::drivers::loggers
+{
+
+class RclcppLogger : public Logger
+{
+public:
+  explicit RclcppLogger(const std::string & name) : underlying_logger_(rclcpp::get_logger(name)) {}
+  explicit RclcppLogger(const rclcpp::Logger & underlying) : underlying_logger_(underlying) {}
+
+  void debug(const std::string & message) override
+  {
+    RCLCPP_DEBUG_STREAM(underlying_logger_, message);
+  }
+  void info(const std::string & message) override
+  {
+    RCLCPP_INFO_STREAM(underlying_logger_, message);
+  }
+  void warn(const std::string & message) override
+  {
+    RCLCPP_WARN_STREAM(underlying_logger_, message);
+  }
+  void error(const std::string & message) override
+  {
+    RCLCPP_ERROR_STREAM(underlying_logger_, message);
+  }
+
+  std::shared_ptr<Logger> child(const std::string & name) override
+  {
+    return std::make_shared<RclcppLogger>(underlying_logger_.get_child(name));
+  }
+
+private:
+  rclcpp::Logger underlying_logger_;
+};
+
+}  // namespace nebula::drivers::loggers