ROS2 logging

Standard logging

In ROS1

ROS_INFO("dog");

in ROS2

RCLCPP_INFO(node_->get_logger(), "dog");

Throttled logging

In ROS1

ROS_INFO_THROTTLED(1.0, "dog");

In ROS2

RCLCPP_INFO_THROTTLED(node_->get_logger(), *(node_->get_clock()), 1000, "dog");

the delta time between messages is given in milliseconds.