Improved logging

pyrobosim/examples/demo_pddl.py

@@ -47,6 +47,7 @@ def start_planner(world, args):
     # Wait for the GUI to load
     while not world.has_gui:
         time.sleep(1.0)
+    time.sleep(0.5)  # Extra time for log messages to not interfere with prompt
 
     if args.example == "01_simple":
         # Task specification for simple example.

pyrobosim/pyrobosim/core/dynamics.py

@@ -4,8 +4,8 @@
 
 import copy
 import numpy as np
-import warnings
 
+from ..utils.logging import get_global_logger
 from ..utils.pose import Pose
 
 
@@ -86,7 +86,9 @@ def step(self, cmd_vel, dt, world=None, check_collisions=False):
         # Check collisions
         if check_collisions:
             if world is None:
-                warnings.warn("Cannot check collisions without a world.")
+                warn_msg = "Cannot check collisions without a world."
+                logger = self.robot.logger if self.robot else get_global_logger()
+                logger.warning(warn_msg)
                 return
 
             if world.collides_with_robots(

pyrobosim/pyrobosim/core/gazebo.py

@@ -88,12 +88,16 @@ def export(self, classic=False, out_folder=None):
             model_path_env = "GAZEBO_MODEL_PATH"
             command = "gazebo"
 
-        print(f"\nWorld file saved to {world_file_name}\n")
-        print(f"Ensure to update your Gazebo model path:")
         include_path_str = ":".join(self.include_model_paths)
-        print(f"    export {model_path_env}=${model_path_env}:{include_path_str}\n")
-        print(f"To start the world, enter")
-        print(f"    {command} {world_file_name}\n")
+        help_string = f"\nWorld file saved to {world_file_name}\n"
+        help_string += "Ensure to update your Gazebo model path:\n"
+        help_string += (
+            f"    export {model_path_env}=${model_path_env}:{include_path_str}\n"
+        )
+        help_string += "To start the world, enter:\n"
+        help_string += f"    {command} {world_file_name}\n"
+        self.world.logger.info(help_string)
+
         return self.out_folder
 
     def create_walls_for_export(self, walls_name="walls"):