Repository Summary

Checkout URI
VCS Type git
VCS Version master
Last Updated 2019-09-17


Name Version
cloudwatch_logger 3.0.0




The cloudwatch_logger node enables logs generated in a ROS system to get sent to AWS CloudWatch Logs. Out of the box, this node provides the ability to subscribe to the /rosout topic, which all logs using the ROS logging framework will be published to by default, and sends logs to the AWS CloudWatch Logs service. Logs can be sent to AWS CloudWatch Logs selectively based on log severity. The cloudwatch_logger node can also subscribe to other topics if logs are not sent to /rosout, and it is able to unsubscribe from the /rosout topic if desired.

The cloudwatch_logger node wraps the aws-sdk-c++ in a ROS service API.

Amazon CloudWatch Logs Summary: AWS CloudWatch Logs can monitor applications and systems using log data. You can create alarms in CloudWatch and receive notifications of particular API activity as captured by CloudTrail and use the notification to perform troubleshooting. By default, logs are kept indefinitely and never expire. You can adjust the retention policy for each log group, keeping the indefinite retention, or choosing a retention period between 1 day to 10 years. AWS CloudWatch Logs stores your log data in highly durable storage.

Keywords: ROS Application logs, System logs, AWS CloudWatch Logs service


The source code is released under an Apache 2.0.

Author: AWS RoboMaker
Affiliation: Amazon Web Services (AWS)
Maintainer: AWS RoboMaker,

Supported ROS Distributions

  • Dashing

Build status

  • Travis CI:
    • "master" branch Build Status
    • "release-latest" branch Build Status
  • ROS build farm:
    • ROS2 Dashing @ u18.04 Bionic Build Status


AWS Credentials

You will need to create an AWS Account and configure the credentials to be able to communicate with AWS services. You may find AWS Configuration and Credential Files helpful.

This node will require the following AWS account IAM role permissions: - logs:PutLogEvents - logs:DescribeLogStreams - logs:CreateLogStream - logs:CreateLogGroup


On Ubuntu you can install the latest version of this package using the following command

    sudo apt-get update
    sudo apt-get install -y ros-${ROS_DISTRO}-cloudwatch-logger

Building from Source

To build from source you'll need to create a new workspace, clone and checkout the latest release branch of this repository, install all the dependencies, and compile. If you need the latest development features you can clone from the master branch instead of the latest release branch. While we guarantee the release branches are stable, the master should be considered to have an unstable build due to ongoing development.

  • Create a ROS workspace and a source directory

    mkdir -p ~/ros-workspace/src
  • Clone the package into the source directory .

    cd ~/ros-workspace/src
    git clone -b release-latest
  • Install dependencies

    cd ~/ros-workspace 
    sudo apt-get update && rosdep update
    rosdep install --from-paths src --ignore-src -r -y

Note: If building the master branch instead of a release branch you may need to also checkout and build the master branches of the packages this package depends on.

  • Build the packages

    cd ~/ros-workspace && colcon build
  • Configure ROS library Path

    source ~/ros-workspace/install/local_setup.bash
  • Run the unit tests

    colcon test && colcon test-result --all

Launch Files

An example launch file called is provided.


Run the node

  • With launch file using parameters in .yaml format (example provided)

    • ROS: ros2 launch cloudwatch_logger
  • Without launch file using default values

    • ROS: ros2 run cloudwatch_logger cloudwatch_logger __log_disable_rosout:=true

Send a test log message

  • ros2 topic pub rosout rcl_interfaces/msg/Log '{level: 20, name: test_log, msg: test_cloudwatch_logger, function: test_logs, line: 1}'

Verify that the test log message was successfully sent to CloudWatch Logs

  • Go to your AWS account
  • Find CloudWatch and click into CloudWatch
  • On the upper right corner, change region to Oregon if you launched the node using the launch file, or change to N. Virginia if you launched the node without using the launch file
  • Select Logs from the left-hand side menu
  • With launch file: The name of the log group should be robot_application_name and the log stream should be device name
  • Without launch file: The name of the log group should be ros_log_group and the log stream should be ros_log_stream

Configuration File and Parameters

An example configuration file called sample_configuration.yaml is provided. When the parameters are absent in the ROS parameter server, default values are used, thus all parameters are optional. See table below for details.

Parameter Name Description Type Allowed Values Default
sub_to_rosout Whether to subscribe to rosout topic bool true/false true
publish_frequency Log publishing frequency in seconds double number 5.0
log_group_name AWS CloudWatch log group name std::string 'string'
note: Log group names must be unique within a region foran AWS account
log_stream_name AWS CloudWatch log stream name std::string 'string'
note: The : (colon) and * (asterisk) characters are not allowed
topics A list of topics to get logs from (excluding rosout) std::vectorstd::string ['string', 'string', 'string'] []
min_log_verbosity The minimum log severity for sending logs selectively to AWS CloudWatch Logs, log messages with a severity lower than min_log_verbosity will be ignored std::string DEBUG/INFO/WARN/ERROR/FATAL DEBUG
storage_directory The location where all offline metrics will be stored string string ~/.ros/cwlogs/
storage_limit The maximum size of all offline storage files in KB. Once this limit is reached offline logs will start to be deleted oldest first. int number 1048576
aws_client_configuration AWS region configuration std::string region: "us-west-2"/"us-east-1"/"us-east-2"/etc. region: us-west-2

Advanced Configuration Parameters

Most users won't need to touch these parameters, they are useful if you want fine grained control over how your logs are stored offline and uploaded to CloudWatch.

Parameter Name Description Type Default
batch_max_queue_size The maximum number logs to add to the CloudWatch upload queue before they start to be written to disk int 1024
batch_trigger_publish_size Only publish logs to CloudWatch when there are this many items in the queue. When this is set the publishing of logs on a constant timer is disabled. This must be smaller than batch_max_queue_size. Logs uploaded from offline storage are not affected by this. int unset
file_max_queue_size The max number of batches in the queue, each of size file_upload_batch_size, when reading and uploading from offline storage files int 5
file_upload_batch_size The size of each batch of logs in the queue, when reading and uploading from offline storage files int 50
file_prefix A prefix to add to each offline storage file so they're easier to identify later string cwlog
file_extension The extension for all offline storage files string .log
maximum_file_size The maximum size each offline storage file in KB int 1024
stream_max_queue_size The maximum number of batches in the queue to stream to CloudWatch. If this queue is full subsequent batches of logs will be written to disk. int 3



Send logs in a ROS system to AWS CloudWatch Logs service.

Subscribed Topics

  • /rosout

By default in ROS, all logs from applications using ROS standard logging framework are sent to rosout topic. The cloudwatch_logger subscribes to rosout by default.

  • /other_topics

The cloudwatch_logger subscribes to other topics if the parameter server has the topic names in cloudwatch_logger namespace.

Published Topics




Bugs & Feature Requests

Please contact the team directly if you would like to request a feature.

Please report bugs in Issue Tracker.