Avoid std::stringstream

[matthew-reynolds]

Similar to ros-controls/ros2_control#391

We rarely use the _STREAM variants of RCLCPP logging, so we might as well just avoid them altogether to avoid the std::stringstream.

While I was in there, I also corrected the printf format for size_t. We previously had a mix of %d and %u. For correctness and portability, it should be %zu, which is specifically for size_ts.

[destogl]

Just a few small suggestions. Let me know what do you think about them. Thanks!

[destogl]

When you are already editing this, can you take a look at the following use?

Suggested change

	RCLCPP_INFO(get_node()->get_logger(), "configure successful");
	RCLCPP_INFO(node_->get_logger(), "configure successful");

[destogl]

Suggested change

	get_node()->get_logger(),
	node_->get_logger(),

[bmagyar]

I am wondering if there's a way to use logging properly without the bloat of get_logger() and other ugly stuff like that. RCUTILS_LOG_ERROR_NAMED seems to have a similar effect... any opinions/experience with this?

[codecov-commenter]

Codecov Report

Merging #175 (4a638cc) into master (7187083) will increase coverage by 0.00%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master     #175      +/-   ##
==========================================
  Coverage   35.27%   35.28%              
==========================================
  Files         286       26     -260     
  Lines       24816     2256   -22560     
  Branches    16082     1462   -14620     
==========================================
- Hits         8755      796    -7959     
+ Misses       1452      132    -1320     
+ Partials    14609     1328   -13281     

Flag	Coverage Δ
unittests	35.28% <ø> (+<0.01%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...ectory_controller/test/test_trajectory_actions.cpp
...ontrollers/src/joint_group_position_controller.cpp
...include/joint_trajectory_controller/tolerances.hpp
...ontrollers/src/joint_group_position_controller.cpp
...ers/joint_trajectory_controller/src/trajectory.cpp
...ler/test/test_load_joint_trajectory_controller.cpp
..._state_broadcaster/src/joint_state_broadcaster.cpp
...test/test_load_joint_group_position_controller.cpp
...ler/test/test_load_joint_trajectory_controller.cpp
..._controllers/src/joint_group_effort_controller.cpp
... and 302 more

[matthew-reynolds]

As I recall, the RCLCPP logging macros just take a string name from the Node's logger which is then passed down to the RCUTILS macros. The RCUTILS macros are basically the same as the ROS1 LOG_NAMED macros.

I think the cleanest and most standard is to stick with the RCLCPP macros, and to use node_ everywhere. We mostly use node_ internally and get_node() externally, which I think is the right move - It's not too verbose and it matches the standard ROS C++ approach. I've got a PR ready that I'll put up once I get approval from work...