Option for uncolored log output

[christophfroehlich]

Is your feature request related to a problem? Please describe.
Our CI logs always look like
[NON-XML-CHAR-0x1B][96mSetting controller param "type" to "imu_sensor_broadcaster/IMUSensorBroadcaster" for [NON-XML-CHAR-0x1B][1mimu14_sensor_broadcaster[NON-XML-CHAR-0x1B][0m

Describe the solution you'd like
From https://docs.ros.org/en/humble/Concepts/Intermediate/About-Logging.html

RCUTILS_COLORIZED_OUTPUT - Control whether colors are used when outputting messages. If unset, automatically determine based on the platform and whether the console is a TTY. If 0, force disable using colors for output. If 1, force enable using colors for output.

Let's use the same logic as (tbd: is there an equivalent of isatty for python?)

https://github.com/ros2/rcutils/blob/3bbdf935477c2ba999943085abd4fbfe8d2867ce/src/logging.c#L1400-L1406

and don't add these colors in spawners etc

ros2_control/controller_manager/controller_manager/controller_manager_services.py

Lines 41 to 51 in bb87986

	# from https://stackoverflow.com/a/287944
	class bcolors:
	MAGENTA = "\033[95m"
	OKBLUE = "\033[94m"
	OKCYAN = "\033[96m"
	OKGREEN = "\033[92m"
	WARNING = "\033[93m"
	FAIL = "\033[91m"
	ENDC = "\033[0m"
	BOLD = "\033[1m"
	UNDERLINE = "\033[4m"

[saumanraaj]

Hi, I’d like to take this issue.
I plan to implement an environment- and TTY-aware color control for the Python log output (respecting RCUTILS_COLORIZED_OUTPUT, if needed d fallback to isatty() and an optional --no-color flag).
I’ll submit a draft PR once I have a working version—please let me know if there are any additional preferences before I start.

[christophfroehlich]

Very welcome! Have a look at our contribution guidelines, and feel free to submit a draft if you want to get early feedback.

[saumanraaj]

Hey,
I’ve created a Pull Request addressing this issue: #2741

The change makes the bcolors class environment-aware (respecting RCUTILS_COLORIZED_OUTPUT), removes ANSI escape codes from all node.get_logger() calls, and maintains full backward compatibility with existing usage.