Is there a LaTeX command that will log to the output/error console?

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I have created a LaTeX \todo{} command which outputs todo notes in the margin:

\newcommand\todo[1]{\marginpar{#1}}

However, I'd really like to output a list of all my todo notes to the output console. I had written a trivial python script to parse .tex files to do so, but have since switched to using latexmk to handle recompilation. My script doesn't really handle using \includeonly either.

Can I write straight into the LaTeX console output from within latex?

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Yes -- try \typeout{message}.

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You should definitely give the todonote-package a try. It writes all your todos into the TOC (if desired) and writes a .tdo-file with all the todos into the directory of the root file.