:question: How to enable rclc debug logging?

还没有人认领这个 Issue。

- Hardware description: Custom board with STM32F765BIT
- RTOS: N/A
- Installation type: micro-ROS for PlatformIO with Arduino Framework.
- Version or commit hash: Humble

I'm trying to debug why I occasionally see RCL_RET_ERR sometimes return from `rclc_executor_spin_some()` in my main project. To do so I'm trying to print out additional debug information from the executor to narrow down what the root cause of the RCL_RET_ERR. I've tried to create a simple project to print out the debug information from `rclc_executor_spin_some()` but I can't get it to output anything!

#### Steps to reproduce the issue
- Program the board using main.cpp and colcon.meta linked below.
- See "test log debug print" printed to Serial.
- No messages from `rclc_executor_spin_some()` are printed.

#### Expected behavior
- Logging messages (e.g. RCUTILS_LOG_x() from https://github.com/ros2/rclc/blob/rolling/rclc/src/rclc/executor.c) are printed to stderr/stdout and /rosout

#### Actual behavior
- Only "test log debug print" printed to Serial

#### Additional information
##### Code snips
Let me know if more context is needed!

main.cpp:
```cpp
#include

#include
#include
#include
#include
#include

#include

#include "drivers/gpio.h"

rcl_node_t node;
rclc_support_t support;
rcl_allocator_t allocator;
rclc_executor_t executor_main;

rcl_timer_t low_freq_timer;

rcl_publisher_t rosout_publisher;

#define ARRAY_LEN(x) (sizeof(x) / sizeof((x)[0]))
#define RCCHECK(fn) {rcl_ret_t temp_rc = fn; if ((temp_rc != RCL_RET_OK)) {error_loop();}}
#define RCSOFTCHECK(fn) {rcl_ret_t temp_rc = fn; if ((temp_rc != RCL_RET_OK)) {Serial.println( \
"Soft check fail")}}

/**
* @brief loop to indicate error
* @todo Add explicit error codes
*/
void error_loop(void)
{
while (true) {
delay(100);
gpio_state_toggle(GPIO_LED_ONBOARD);
Serial.println("Hard check fail");
}
}

void low_freq_timer_callback(rcl_timer_t * timer, int64_t last_call_time)
{
gpio_state_toggle(GPIO_LED_ONBOARD);

RCUTILS_LOG_DEBUG_NAMED("", "test log debug print");
}

// cppcheck-suppress unusedFunction
void setup()
{
Serial.begin(115200);
// Trap until USB VCOM port attached to microROS prior to proceeding
SerialUSB.dtr(true);
while (!SerialUSB.dtr()) {
delay(100);
}
SerialUSB.begin();
set_microros_serial_transports(SerialUSB);
delay(1000);

const uint64_t low_freq_timer_timeout = 400;
gpio_init();
allocator = rcl_get_default_allocator();
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
RCCHECK(rcl_init_options_init(&init_options, allocator));
#ifdef ROS_DOMAIN_OVERRIDE
RCCHECK(rcl_init_options_set_domain_id(&init_options, ROS_DOMAIN_OVERRIDE));
#endif
RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
RCCHECK(rcutils_logging_set_logger_level("", RCUTILS_LOG_SEVERITY_DEBUG));
RCCHECK(rclc_node_init_default(&node, "micro_ros_node", "hardware", &support));

RCCHECK(
rclc_publisher_init_default(
&rosout_publisher,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(rcl_interfaces, msg, Log),
"/rosout"
)
);

RCCHECK(
rclc_timer_init_default(
&low_freq_timer,
&support,
RCL_MS_TO_NS(low_freq_timer_timeout),
low_freq_timer_callback
)
);

// handles_num is the total num of subscriptions, timers, services, clients and guard conditions
const size_t handles_num = 1;
RCCHECK(rclc_executor_init(&executor_main, &support.context, handles_num, &allocator));
RCCHECK(rclc_executor_add_timer(&executor_main, &low_freq_timer));
}

void loop()
{
RCCHECK(rclc_executor_spin_some(&executor_main, RCL_MS_TO_NS(1)));
}
```

colcon.meta:
```json
{
"names": {
"rmw_microxrcedds": {
"cmake-args": [
"-DRMW_UXRCE_MAX_NODES=1",
"-DRMW_UXRCE_MAX_PUBLISHERS=15",
"-DRMW_UXRCE_MAX_SUBSCRIPTIONS=3",
"-DRMW_UXRCE_MAX_SERVICES=7",
"-DRMW_UXRCE_MAX_CLIENTS=0"
]
}
"rclc": {
"cmake-args": [
"-DRCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_DEBUG"
]
}
}
}
```

```ini
[platformio]
src_dir = mcu
workspace_dir = ../../build/mcu_pio

[env]
board_microros_distro = humble

check_flags =
cppcheck: --inconclusive --inline-suppr --suppress=*:*/libdeps/*
check_skip_packages = yes

lib_deps =
https://github.com/micro-ROS/micro_ros_platformio#48096f8

[env:ststm32]
; pin platform version to 17.4, as 17.5 has build
; issues with undefined reference to `SerialUSB`
platform = ststm32@17.4.0
framework = arduino
board = rev_b
extra_scripts = pre:boards/config_board.py
monitor_dtr = 1

build_src_filter =
+

build_flags =
${env.build_flags}
; enable SerialUSB
-I mcu/stm32/
-DPIO_FRAMEWORK_ARDUINO_ENABLE_CDC_WITHOUT_SERIAL
-DUSBCON
; Increase USB buffer sizes. Each TX and RX buffer is calculated based
; on the teensy 4.0 default USB buffer sizes (TX: 8192, RX: 4096)
; (see https://github.com/PaulStoffregen/cores/blob/master/teensy4/usb_serial.c)). Note the TX/RX buffer
; sizes are calculated by multiplying the packet number by 64.
; Default buffer sizes:
; CDC_TRANSMIT_QUEUE_BUFFER_PACKET_NUMBER 2
; CDC_RECEIVE_QUEUE_BUFFER_PACKET_NUMBER 3
; Minimum buffer sizes:
; CDC_TRANSMIT_QUEUE_BUFFER_PACKET_NUMBER 1
; CDC_RECEIVE_QUEUE_BUFFER_PACKET_NUMBER 2
-DCDC_TRANSMIT_QUEUE_BUFFER_PACKET_NUMBER=128
-DCDC_RECEIVE_QUEUE_BUFFER_PACKET_NUMBER=64

-DSERIAL_TX_BUFFER_SIZE=256
-DSERIAL_RX_BUFFER_SIZE=256

; Reduce timeout of I2C from 100 to 10. This should still allow
; 1000 bytes of data to be sent via I2C at 100 kHz, more than enough for
; the BME environemntal and pressure sensor comms.
-DI2C_TIMEOUT_TICK=10

-DRCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_DEBUG

board_microros_user_meta = ststm32_custom.meta

lib_deps =
${env.lib_deps}
```

从 rclc/src/rclc/executor.c 中的日志调用以及 main.cpp 中所示的设置开始，然后比较 colcon.meta 和 PlatformIO 配置中的 RCUTILS_LOG_MIN_SEVERITY 设置。重现 STM32F765BIT 构建，并验证在启用 debug severity 时，executor 日志会通过预期的输出路径显示。

由索引模型根据 Issue 内容生成。