cherry-pick(#9): introduce glog

rclcpp_components/CMakeLists.txt

@@ -18,6 +18,7 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(class_loader REQUIRED)
 find_package(composition_interfaces REQUIRED)
+find_package(glog REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rcpputils REQUIRED)
 
@@ -54,7 +55,7 @@ add_executable(
   component_container
   src/component_container.cpp
 )
-target_link_libraries(component_container component_manager rclcpp::rclcpp)
+target_link_libraries(component_container component_manager rclcpp::rclcpp glog::glog)
 
 set(node_main_template_install_dir "share/${PROJECT_NAME}")
 install(FILES
@@ -65,13 +66,13 @@ add_executable(
   component_container_mt
   src/component_container_mt.cpp
 )
-target_link_libraries(component_container_mt component_manager rclcpp::rclcpp)
+target_link_libraries(component_container_mt component_manager rclcpp::rclcpp glog::glog)
 
 add_executable(
   component_container_isolated
   src/component_container_isolated.cpp
 )
-target_link_libraries(component_container_isolated component_manager rclcpp::rclcpp)
+target_link_libraries(component_container_isolated component_manager rclcpp::rclcpp glog::glog)
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
   target_link_libraries(component_container "stdc++fs")
@@ -90,7 +91,8 @@ if(BUILD_TESTING)
   set(components "")
   add_library(test_component SHARED test/components/test_component.cpp)
   target_link_libraries(test_component PRIVATE component)
-  #rclcpp_components_register_nodes(test_component "test_rclcpp_components::TestComponent")
+
+  # rclcpp_components_register_nodes(test_component "test_rclcpp_components::TestComponent")
   set(components "${components}test_rclcpp_components::TestComponentFoo;$<TARGET_FILE:test_component>\n")
   set(components "${components}test_rclcpp_components::TestComponentBar;$<TARGET_FILE:test_component>\n")
   set(components "${components}test_rclcpp_components::TestComponentNoNode;$<TARGET_FILE:test_component>\n")

rclcpp_components/cmake/rclcpp_components_register_node.cmake

@@ -93,12 +93,15 @@ macro(rclcpp_components_register_node target)
     endif()
   endif()
 
+  find_package(glog QUIET REQUIRED)
+
   configure_file(${rclcpp_components_NODE_TEMPLATE}
     ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_configured_${node}.cpp.in)
   file(GENERATE OUTPUT ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_${node}.cpp
     INPUT ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_configured_${node}.cpp.in)
   add_executable(${node} ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_${node}.cpp)
   target_link_libraries(${node}
+    glog::glog
     class_loader::class_loader
     rclcpp::rclcpp
     rclcpp_components::component

rclcpp_components/package.xml

@@ -20,11 +20,15 @@
   <build_depend>class_loader</build_depend>
   <build_depend>composition_interfaces</build_depend>
   <build_depend>rclcpp</build_depend>
+  <build_depend>libgoogle-glog-dev</build_depend>
   <build_depend>rcpputils</build_depend>
 
+  <build_export_depend>libgoogle-glog-dev</build_export_depend>
+
   <exec_depend>ament_index_cpp</exec_depend>
   <exec_depend>class_loader</exec_depend>
   <exec_depend>composition_interfaces</exec_depend>
+  <exec_depend>libgoogle-glog-dev</exec_depend>
   <exec_depend>rclcpp</exec_depend>
 
   <test_depend>ament_cmake_google_benchmark</test_depend>
@@ -38,4 +42,3 @@
     <build_type>ament_cmake</build_type>
   </export>
 </package>
-

rclcpp_components/src/component_container.cpp

@@ -1,4 +1,5 @@
 // Copyright 2019 Open Source Robotics Foundation, Inc.
+// Copyright 2024 TIER IV, Inc. (Edit for glog)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,14 +13,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+
 #include <memory>
+#include <glog/logging.h>
 
 #include "rclcpp/rclcpp.hpp"
 
 #include "rclcpp_components/component_manager.hpp"
 
 int main(int argc, char * argv[])
 {
+  google::InitGoogleLogging(argv[0]);
+  google::InstallFailureSignalHandler();
+
   /// Component container with a single-threaded executor.
   rclcpp::init(argc, argv);
   auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();

rclcpp_components/src/component_container_isolated.cpp

@@ -1,4 +1,5 @@
 // Copyright 2021 Open Source Robotics Foundation, Inc.
+// Copyright 2024 TIER IV, Inc. (Edit for glog)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -15,13 +16,17 @@
 #include <memory>
 #include <vector>
 #include <string>
+#include <glog/logging.h>
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp_components/component_manager_isolated.hpp"
 
 int main(int argc, char * argv[])
 {
+  google::InitGoogleLogging(argv[0]);
+  google::InstallFailureSignalHandler();
+
   /// Component container with dedicated single-threaded executors for each components.
   rclcpp::init(argc, argv);
   // parse arguments

rclcpp_components/src/component_container_mt.cpp

@@ -1,4 +1,5 @@
 // Copyright 2019 Open Source Robotics Foundation, Inc.
+// Copyright 2024 TIER IV, Inc. (Edit for glog)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -13,13 +14,17 @@
 // limitations under the License.
 
 #include <memory>
+#include <glog/logging.h>
 
 #include "rclcpp/rclcpp.hpp"
 
 #include "rclcpp_components/component_manager.hpp"
 
 int main(int argc, char * argv[])
 {
+  google::InitGoogleLogging(argv[0]);
+  google::InstallFailureSignalHandler();
+
   /// Component container with a multi-threaded executor.
   rclcpp::init(argc, argv);
 

rclcpp_components/src/node_main.cpp.in

@@ -1,4 +1,5 @@
 // Copyright 2019 Open Source Robotics Foundation, Inc.
+// Copyright 2024 TIER IV, Inc. (Edit for glog)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -16,6 +17,7 @@
 #include <memory>
 #include <string>
 #include <vector>
+#include <glog/logging.h>
 
 #include "class_loader/class_loader.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -29,6 +31,9 @@ using namespace rclcpp::experimental::executors;
 
 int main(int argc, char * argv[])
 {
+  google::InitGoogleLogging(argv[0]);
+  google::InstallFailureSignalHandler();
+
   auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
   rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);
   @executor@ exec;