From dac6635612083c0bb04cdbef172d4bce90002e69 Mon Sep 17 00:00:00 2001
From: Yong Li <30503431+yli-cpr@users.noreply.github.com>
Date: Fri, 18 May 2018 18:27:13 -0400
Subject: [PATCH] Allow disabling rosout file logging (to rosout.log) (#1381)

See issue #1380.
---
 tools/rosout/rosout.cpp | 43 ++++++++++++++++++++++++++---------------
 1 file changed, 27 insertions(+), 16 deletions(-)

diff --git a/tools/rosout/rosout.cpp b/tools/rosout/rosout.cpp
index e1f15712b6..60cf870271 100644
--- a/tools/rosout/rosout.cpp
+++ b/tools/rosout/rosout.cpp
@@ -82,29 +82,35 @@ class Rosout
 
   void init()
   {
-    handle_ = fopen(log_file_name_.c_str(), "w");
+    bool disable_file_logging = false;
+    node_.getParamCached("/rosout/disable_file_logging", disable_file_logging);
 
-    if (handle_ == 0)
+    if (!disable_file_logging)
     {
-      std::cerr << "Error opening rosout log file '" << log_file_name_.c_str() << "': " << strerror(errno);
-    }
-    else
-    {
-      std::cout << "logging to " << log_file_name_.c_str() << std::endl;
+      handle_ = fopen(log_file_name_.c_str(), "w");
 
-      std::stringstream ss;
-      ss <<  "\n\n" << ros::Time::now() << "  Node Startup\n";
-      int written = fprintf(handle_, "%s", ss.str().c_str());
-      if (written < 0)
+      if (handle_ == 0)
       {
-        std::cerr << "Error writting to rosout log file '" << log_file_name_.c_str() << "': " << strerror(ferror(handle_)) << std::endl;
+        std::cerr << "Error opening rosout log file '" << log_file_name_.c_str() << "': " << strerror(errno);
       }
-      else if (written > 0)
+      else
       {
-        current_file_size_ += written;
-        if (fflush(handle_))
+        std::cout << "logging to " << log_file_name_.c_str() << std::endl;
+
+        std::stringstream ss;
+        ss <<  "\n\n" << ros::Time::now() << "  Node Startup\n";
+        int written = fprintf(handle_, "%s", ss.str().c_str());
+        if (written < 0)
+        {
+          std::cerr << "Error writting to rosout log file '" << log_file_name_.c_str() << "': " << strerror(ferror(handle_)) << std::endl;
+        }
+        else if (written > 0)
         {
-          std::cerr << "Error flushing rosout log file '" << log_file_name_.c_str() << "': " << strerror(ferror(handle_));
+          current_file_size_ += written;
+          if (fflush(handle_))
+          {
+            std::cerr << "Error flushing rosout log file '" << log_file_name_.c_str() << "': " << strerror(ferror(handle_));
+          }
         }
       }
     }
@@ -120,6 +126,11 @@ class Rosout
   {
     agg_pub_.publish(msg);
 
+    if (!handle_)
+    {
+      return;
+    }
+
     std::stringstream ss;
     ss << msg->header.stamp << " ";
     switch (msg->level)