ROS 设置日志格式

1. 配置文件

   <launch>
     <env name="ROSCONSOLE_CONFIG_FILE"
     value="$(find mypackage)/custom_rosconsole.conf"/>
     <node pkg="mypackage" type="mynode" name="mynode" output="screen"/>
   </launch>

2. 设置日志格式

   export ROSCONSOLE_FORMAT='[${severity}] [${time}]: ${message}'

   The full list of possible options follows.

   Token	Sample Output
   severity	ERROR
   message	hello world 0
   time	1284058208.824620563
   	(if no sim time is available it only shows the wall time)
   	1284058208.824620563, 1234567890.123456789
   	(if sim time is available it shows the wall time first and the sim time second)
   walltime	1284058208.824620563
   	(this feature was always available in Python, in C++ it is only available since ros_console version 1.12.6)
   thread	0xcd63d0
   logger	ros.roscpp_tutorials
   file	/wg/bvu/jfaust/ros/stacks/ros_tutorials/roscpp_tutorials/talker/talker.cpp
   line	92
   function	main
   node	/talker

参考：http://wiki.ros.org/rosconsole