cherry-pick(#9): introduce glog

[KYabuuchi]

Description

TIER IV INTERNAL ticket

This PR consists of three parts:

• Cherry-pick of PR feat(rclcpp_components): add glog #9
• Minor conflict resolution
• Replacement of <depend>glog</depend> with <depend>libgoogle-glog-dev</depend>

Originally, https://github.com/tier4/glog/tree/v0.6.0_t4-ros was used because the version of glog provided via apt in Humble did not have IsGoogleLoggingInitialized. So we needed to specify <depend>glog</depend> in package.xml
After the Jazzy environment, the apt-provided version includes this API, so tier4/rclcpp no longer needs to depend on tier4/glog.
Now we can specify glog as <depend>libgoogle-glog-dev</depend> .

Note

However, some Autoware packages still have <depend>glog</depend> , so tier4/glog remains as a dependency in Autoware.
related issues: autowarefoundation/autoware_universe#12176

Original PR's description

Do not merge until double initialization is resolved.

Add glog to component containters and component node executable.

How was this PR tested:

I tested it with jazzy docker image.

# set up workspace
mkdir ros_ws/src -p
cd ros_ws/src
git clone git@github.com:tier4/rclcpp.git -b fix/jazzy/pr9
git clone https://github.com/ros2/demos.git -b jazzy
cd ..

# docker
docker run -it --rm -v (pwd):/ros2_ws -w /ros2_ws ros:jazzy
sudo apt update
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to demo_nodes_cpp

# test phase
source install/setup.bash
ros2 run demo_nodes_cpp listener &
pkill listener

Here is dump result:

root@4d3cc8b682b2:/ros2_ws# pkill listener
*** Aborted at 1773290059 (unix time) try "date -d @1773290059" if you are using GNU date ***
root@4d3cc8b682b2:/ros2_ws# PC: @                0x0 (unknown)
*** SIGTERM (@0x2684) received by PID 9845 (TID 0x7f99721cbfc0) from PID 9860; stack trace: ***
    @     0x7f9972ef6206 (unknown)
    @     0x7f9972df8b4e rclcpp::SignalHandler::signal_handler()
    @     0x7f99726bf330 (unknown)
    @     0x7f9972712d71 (unknown)
    @     0x7f99727157ed pthread_cond_wait
    @     0x7f9970c094ca eprosima::fastdds::dds::detail::WaitSetImpl::wait()
    @     0x7f9970c0957c eprosima::fastdds::dds::WaitSet::wait()
    @     0x7f9971141a9e rmw_fastrtps_shared_cpp::__rmw_wait()
    @     0x7f99711a1928 rmw_wait
    @     0x7f997260f21c rcl_wait
    @     0x7f9972cf3648 rclcpp::WaitSetTemplate<>::wait<>()
    @     0x7f9972ceb90d rclcpp::Executor::wait_for_work()
    @     0x7f9972cebe2b rclcpp::Executor::get_next_executable()
    @     0x7f9972d0dd43 rclcpp::executors::SingleThreadedExecutor::spin()
    @     0x55951d183025 main
    @     0x7f99726a41ca (unknown)
    @     0x7f99726a428b __libc_start_main
    @     0x55951d183735 _start
[ros2run]: Terminated

TIER IV–specific Jazzy cherry-pick list

• cherry-pick(26bcfed): retry service response send on failure #20
• cherry-pick(#9): introduce glog #21
• cherry-pick(#12, #14, #16): deduplicate node loading if FQN already exists #22