Add enable_logger_service option for runtime log level control

.github/workflows/linux-arm64-build-and-test.yml

@@ -95,9 +95,18 @@ jobs:
         # Fix ownership of the workspace to allow write access
         sudo chown -R $(whoami):$(whoami) $GITHUB_WORKSPACE
 
+    # Wrap the test step in nick-fields/retry@v4 to absorb transient flakes
+    # (mocha races, native rebuilds, Electron postinstall, network blips).
+    # Keep max_attempts low so real regressions still surface quickly.
     - name: Build and test rclnodejs
-      run: |
-        uname -a
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        npm i
-        npm test
+      uses: nick-fields/retry@v4
+      with:
+        shell: bash
+        max_attempts: 2
+        retry_wait_seconds: 10
+        timeout_minutes: 60
+        command: |
+          uname -a
+          source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+          npm i
+          npm test

.github/workflows/linux-x64-asan-test.yml

@@ -41,7 +41,16 @@ jobs:
         source /opt/ros/jazzy/setup.bash
         npm i
 
+    # Wrap the asan test step in nick-fields/retry@v4 to absorb transient
+    # flakes. ASan can be sensitive to timing-related test races; keep
+    # max_attempts low so real regressions still surface quickly.
     - name: Build and test with AddressSanitizer
-      run: |
-        source /opt/ros/jazzy/setup.bash
-        npm run test:asan
+      uses: nick-fields/retry@v4
+      with:
+        shell: bash
+        max_attempts: 2
+        retry_wait_seconds: 10
+        timeout_minutes: 60
+        command: |
+          source /opt/ros/jazzy/setup.bash
+          npm run test:asan

.github/workflows/linux-x64-build-and-test.yml

@@ -123,22 +123,39 @@ jobs:
 
     - uses: actions/checkout@v6
 
+    # The mocha suite and the Electron postinstall (extract-zip 2.0.1) are
+    # known to be intermittently flaky on this runner. Wrap both test
+    # invocations in nick-fields/retry@v4 so a single transient failure does
+    # not fail the whole matrix leg. Keep max_attempts conservative so real
+    # regressions still surface quickly.
     - name: Build and test rclnodejs
-      run: |
-        uname -a
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        npm i
-        npm run lint
-        npm test
-        npm run clean
+      uses: nick-fields/retry@v4
+      with:
+        shell: bash
+        max_attempts: 2
+        retry_wait_seconds: 10
+        timeout_minutes: 60
+        command: |
+          uname -a
+          source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+          npm i
+          npm run lint
+          npm test
+          npm run clean
 
     - name: Test with IDL ROS messages (rolling / lyrical)
       if: ${{ matrix.ros_distribution == 'rolling' || matrix.ros_distribution == 'lyrical' }}
-      run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        npm i
-        npm run test-idl
-        npm run clean
+      uses: nick-fields/retry@v4
+      with:
+        shell: bash
+        max_attempts: 2
+        retry_wait_seconds: 10
+        timeout_minutes: 60
+        command: |
+          source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+          npm i
+          npm run test-idl
+          npm run clean
 
     - name: Coveralls
       if: ${{ matrix.ros_distribution == 'rolling' && matrix['node-version'] == '24.X' }}

.github/workflows/windows-build-and-test.yml

@@ -88,11 +88,19 @@ jobs:
         call "C:\pixi_ws\ros2-windows\setup.bat"
         npm i
 
+    # Wrap the test step in nick-fields/retry@v4 to absorb transient flakes
+    # (mocha races, native rebuilds, network blips). Keep max_attempts low so
+    # real regressions still surface quickly.
     - name: Test rclnodejs
       if: ${{ matrix.run_tests }}
-      shell: cmd
-      run: |
-        set PATH=C:\pixi_ws\.pixi\envs\default\Library\bin;C:\pixi_ws\.pixi\envs\default\Scripts;C:\pixi_ws\.pixi\envs\default\bin;%PATH%
-        set RMW_IMPLEMENTATION=rmw_fastrtps_cpp
-        call "C:\pixi_ws\ros2-windows\setup.bat"
-        npm test
+      uses: nick-fields/retry@v4
+      with:
+        shell: cmd
+        max_attempts: 2
+        retry_wait_seconds: 10
+        timeout_minutes: 60
+        command: |
+          set PATH=C:\pixi_ws\.pixi\envs\default\Library\bin;C:\pixi_ws\.pixi\envs\default\Scripts;C:\pixi_ws\.pixi\envs\default\bin;%PATH%
+          set RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+          call "C:\pixi_ws\ros2-windows\setup.bat"
+          npm test

lib/logging_service.js

@@ -0,0 +1,122 @@
+// Copyright (c) 2026, The Robot Web Tools Contributors
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+'use strict';
+
+const Logging = require('./logging.js');
+
+const LOGGING_SEVERITY_UNSET = 0;
+
+/**
+ * Implements the ROS 2 logging service interfaces for a node.
+ *
+ * The interfaces implemented are:
+ *  rcl_interfaces/srv/GetLoggerLevels
+ *  rcl_interfaces/srv/SetLoggerLevels
+ *
+ * @class
+ */
+class LoggingService {
+  /**
+   * Create a new instance.
+   * @param {Node} node - The node these services support.
+   */
+  constructor(node) {
+    this._node = node;
+    this._isRunning = false;
+  }
+
+  /**
+   * Get the node this service supports.
+   * @return {Node} - The supported node.
+   */
+  get node() {
+    return this._node;
+  }
+
+  /**
+   * Check if logging services are configured and accepting requests.
+   * @return {boolean} - True if services are active; false otherwise.
+   */
+  isStarted() {
+    return this._isRunning;
+  }
+
+  /**
+   * Configure logging services and begin processing client requests.
+   * @return {undefined}
+   */
+  start() {
+    if (this._isRunning) return;
+
+    this._isRunning = true;
+    const nodeName = this.node.name();
+
+    this.node.createService(
+      'rcl_interfaces/srv/GetLoggerLevels',
+      nodeName + '/get_logger_levels',
+      (request, response) => this._handleGetLoggerLevels(request, response)
+    );
+
+    this.node.createService(
+      'rcl_interfaces/srv/SetLoggerLevels',
+      nodeName + '/set_logger_levels',
+      (request, response) => this._handleSetLoggerLevels(request, response)
+    );
+  }
+
+  _handleGetLoggerLevels(request, response) {
+    const msg = response.template;
+
+    for (const name of request.names) {
+      try {
+        msg.levels.push({
+          name,
+          level: Logging.getLogger(name).loggerEffectiveLevel,
+        });
+      } catch {
+        msg.levels.push({
+          name,
+          level: LOGGING_SEVERITY_UNSET,
+        });
+      }
+    }
+
+    response.send(msg);
+  }
+
+  _handleSetLoggerLevels(request, response) {
+    const msg = response.template;
+
+    for (const loggerLevel of request.levels) {
+      const result = {
+        successful: false,
+        reason: '',
+      };
+
+      try {
+        Logging.getLogger(loggerLevel.name).setLoggerLevel(loggerLevel.level);
+        result.successful = true;
+      } catch (error) {
+        result.reason = error.message;
+      }
+
+      msg.results.push(result);
+    }
+
+    response.send(msg);
+  }
+}
+
+module.exports = LoggingService;

lib/node.js

@@ -25,6 +25,7 @@ const DistroUtils = require('./distro.js');
 const GuardCondition = require('./guard_condition.js');
 const loader = require('./interface_loader.js');
 const Logging = require('./logging.js');
+const LoggingService = require('./logging_service.js');
 const NodeOptions = require('./node_options.js');
 const {
   ParameterType,
@@ -121,6 +122,8 @@ class Node extends rclnodejs.ShadowNode {
         defaults.startTypeDescriptionService,
       enableRosout: options.enableRosout ?? defaults.enableRosout,
       rosoutQos: options.rosoutQos ?? defaults.rosoutQos,
+      enableLoggerService:
+        options.enableLoggerService ?? defaults.enableLoggerService,
     };
   }
 
@@ -159,6 +162,7 @@ class Node extends rclnodejs.ShadowNode {
     this._parameterDescriptors = new Map();
     this._parameters = new Map();
     this._parameterService = null;
+    this._loggerService = null;
     this._typeDescriptionService = null;
     this._parameterEventPublisher = null;
     this._preSetParametersCallbacks = [];
@@ -219,6 +223,11 @@ class Node extends rclnodejs.ShadowNode {
       this._parameterService.start();
     }
 
+    if (options.enableLoggerService) {
+      this._loggerService = new LoggingService(this);
+      this._loggerService.start();
+    }
+
     if (
       DistroUtils.getDistroId() >= DistroUtils.getDistroId('jazzy') &&
       options.startTypeDescriptionService

lib/node_options.js

@@ -29,14 +29,16 @@ class NodeOptions {
    * @param {boolean} [startTypeDescriptionService=true]
    * @param {boolean} [enableRosout=true]
    * @param {QoS} [rosoutQos=QoS.profileDefault]
+   * @param {boolean} [enableLoggerService=false]
    */
   constructor(
     startParameterServices = true,
     parameterOverrides = [],
     automaticallyDeclareParametersFromOverrides = false,
     startTypeDescriptionService = true,
     enableRosout = true,
-    rosoutQos = null
+    rosoutQos = null,
+    enableLoggerService = false
   ) {
     this._startParameterServices = startParameterServices;
     this._parameterOverrides = parameterOverrides;
@@ -45,6 +47,7 @@ class NodeOptions {
     this._startTypeDescriptionService = startTypeDescriptionService;
     this._enableRosout = enableRosout;
     this._rosoutQos = rosoutQos;
+    this._enableLoggerService = enableLoggerService;
   }
 
   /**
@@ -164,6 +167,23 @@ class NodeOptions {
     this._rosoutQos = rosoutQos;
   }
 
+  /**
+   * Get the enableLoggerService option.
+   * Default value = false;
+   * @returns {boolean} - true if logger services are enabled.
+   */
+  get enableLoggerService() {
+    return this._enableLoggerService;
+  }
+
+  /**
+   * Set enableLoggerService.
+   * @param {boolean} enableLoggerService
+   */
+  set enableLoggerService(enableLoggerService) {
+    this._enableLoggerService = enableLoggerService;
+  }
+
   /**
    * Return an instance configured with default options.
    * @returns {NodeOptions} - An instance with default values.