Init commit.

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(logging_debug)
+
+add_compile_options(-Wall -Wextra -Wpedantic)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(spdlog REQUIRED)
+
+add_executable(roslog src/roslog.cpp)
+target_link_libraries(roslog rclcpp::rclcpp)
+target_compile_features(roslog PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+add_executable(spdlog src/spdlog.cpp)
+target_link_libraries(spdlog rclcpp::rclcpp spdlog::spdlog)
+target_compile_features(spdlog PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+add_executable(nolog src/nolog.cpp)
+target_link_libraries(nolog rclcpp::rclcpp)
+target_compile_features(nolog PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+add_executable(spdlog_macro src/spdlog_macro.cpp)
+target_link_libraries(spdlog_macro rclcpp::rclcpp spdlog::spdlog)
+target_compile_features(spdlog_macro PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_compile_definitions(spdlog_macro PRIVATE SPDLOG_ACTIVE_LEVEL=SPDLOG_LEVEL_INFO)
+
+
+install(TARGETS
+  roslog
+  spdlog
+  spdlog_macro
+  nolog
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>logging_debug</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="jpace121@gmail.com">jimmy</maintainer>
+  <license>MPL-2.0</license>
+
+  <depend>rclcpp</depend>
+  <depend>spdlog</depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/nolog.cpp

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+/* Copyright 2025 James Pace
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/.
+ *
+ * This Source Code Form is "Incompatible With Secondary Licenses", as
+ * defined by the Mozilla Public License, v. 2.0.
+ */
+
+#include <chrono>
+#include <memory>
+#include <cstdlib>
+
+#include "rclcpp/rclcpp.hpp"
+
+using namespace std::chrono_literals;
+
+class Publisher : public rclcpp::Node
+{
+  public:
+    Publisher():
+        Node("roslog")
+    {
+        timer_ = this->create_wall_timer(100ms, [this]()
+        {
+            timer_->cancel();
+
+            volatile double val = 0;
+            const auto start = std::chrono::steady_clock::now();
+            for(int i = 0; i < 10000; i++)
+            {
+                val = val + 0.001*(1.0 - val);
+            }
+            const auto end = std::chrono::steady_clock::now();
+
+            const std::chrono::duration<double> diff = end - start;
+            RCLCPP_INFO_STREAM(this->get_logger(), "val: " << val);
+            RCLCPP_INFO_STREAM(this->get_logger(), "Time delta: " << diff.count());
+
+
+            std::exit(0);
+        });
+    }
+
+  private:
+    rclcpp::TimerBase::SharedPtr timer_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<Publisher>());
+  rclcpp::shutdown();
+  return 0;
+}

src/roslog.cpp

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+/* Copyright 2025 James Pace
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/.
+ *
+ * This Source Code Form is "Incompatible With Secondary Licenses", as
+ * defined by the Mozilla Public License, v. 2.0.
+ */
+
+#include <chrono>
+#include <memory>
+#include <cstdlib>
+
+#include "rclcpp/rclcpp.hpp"
+
+using namespace std::chrono_literals;
+
+class Publisher : public rclcpp::Node
+{
+  public:
+    Publisher():
+        Node("roslog")
+    {
+        timer_ = this->create_wall_timer(100ms, [this]()
+        {
+            timer_->cancel();
+
+            double val = 0;
+            const auto start = std::chrono::steady_clock::now();
+            for(int i = 0; i < 10000; i++)
+            {
+                val = val + 0.001*(1.0 - val);
+                RCLCPP_DEBUG_STREAM(this->get_logger(), "Val is " << val);
+            }
+            const auto end = std::chrono::steady_clock::now();
+
+            const std::chrono::duration<double> diff = end - start;
+            RCLCPP_WARN_STREAM(this->get_logger(), "Time delta: " << diff.count());
+
+
+            std::exit(0);
+        });
+    }
+
+  private:
+    rclcpp::TimerBase::SharedPtr timer_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<Publisher>());
+  rclcpp::shutdown();
+  return 0;
+}

src/spdlog.cpp

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+/* Copyright 2025 James Pace
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/.
+ *
+ * This Source Code Form is "Incompatible With Secondary Licenses", as
+ * defined by the Mozilla Public License, v. 2.0.
+ */
+
+#include <chrono>
+#include <memory>
+#include <cstdlib>
+
+#include "rclcpp/rclcpp.hpp"
+#include "spdlog/spdlog.h"
+#include "spdlog/cfg/env.h"
+
+using namespace std::chrono_literals;
+
+class Publisher : public rclcpp::Node
+{
+  public:
+    Publisher():
+        Node("spdlog")
+    {
+        timer_ = this->create_wall_timer(100ms, [this]()
+        {
+            timer_->cancel();
+
+            double val = 0;
+            const auto start = std::chrono::steady_clock::now();
+            for(int i = 0; i < 10000; i++)
+            {
+                val = val + 0.001*(1.0 - val);
+                spdlog::info("Val is {}", val);
+            }
+            const auto end = std::chrono::steady_clock::now();
+
+            const std::chrono::duration<double> diff = end - start;
+            spdlog::error("Time delta: {}", diff.count());
+
+            std::exit(0);
+        });
+    }
+
+  private:
+    rclcpp::TimerBase::SharedPtr timer_;
+};
+
+int main(int argc, char * argv[])
+{
+  spdlog::cfg::load_env_levels();
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<Publisher>());
+  rclcpp::shutdown();
+  return 0;
+}

src/spdlog_macro.cpp

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+/* Copyright 2025 James Pace
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/.
+ *
+ * This Source Code Form is "Incompatible With Secondary Licenses", as
+ * defined by the Mozilla Public License, v. 2.0.
+ */
+
+#include <chrono>
+#include <memory>
+#include <cstdlib>
+
+#include "rclcpp/rclcpp.hpp"
+#include "spdlog/spdlog.h"
+#include "spdlog/cfg/env.h"
+
+using namespace std::chrono_literals;
+
+class Publisher : public rclcpp::Node
+{
+  public:
+    Publisher():
+        Node("spdlog")
+    {
+        timer_ = this->create_wall_timer(100ms, [this]()
+        {
+            timer_->cancel();
+
+            volatile double val = 0;
+            const auto start = std::chrono::steady_clock::now();
+            for(int i = 0; i < 10000; i++)
+            {
+                val = val + 0.001*(1.0 - val);
+                SPDLOG_INFO("Val is {}", val);
+            }
+            const auto end = std::chrono::steady_clock::now();
+
+            const std::chrono::duration<double> diff = end - start;
+            SPDLOG_ERROR("Time delta: {}", diff.count());
+
+            std::exit(0);
+        });
+    }
+
+  private:
+    rclcpp::TimerBase::SharedPtr timer_;
+};
+
+int main(int argc, char * argv[])
+{
+  spdlog::cfg::load_env_levels();
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<Publisher>());
+  rclcpp::shutdown();
+  return 0;
+}