refactor: update TRT build log

[ktro2828]

Description

This PR updates to use throttle logging while building TRT engine from onnx every 5 seconds.

The target packages are as follows.

• lidar_centerpoint( & pointpainting)
• lidar_apollo_instance_segmentation
• tensorrt_yolo
• tensorrt_yolox
• traffic_light_classifier
• traffic_light_fine_detector
• traffic_light_ssd_fine_detector

Sample usage

#include <tensorrt_common/logger.hpp>

{
  tensorrt_common::Logger logger;

  // throttle logging every 1 sec
  auto log_thread = logger.log_throttle(nvinfer1::ILogger::Severity::kINFO, "SOME MESSAGE", 1);
  /* SOME OPERATION */
  logger.stop_throttle(log_thread);
}

Tests performed

vokoscreenNG-2024-01-19_14-46-04.mp4

Effects on system behavior

Not applicable.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Attention: 53 lines in your changes are missing coverage. Please review.

Comparison is base (1c4c3e3) 14.57% compared to head (449edae) 14.56%.

Files	Patch %	Lines
...lidar_centerpoint/lib/network/tensorrt_wrapper.cpp	0.00%	14 Missing ⚠️
...tensorrt_common/include/tensorrt_common/logger.hpp	0.00%	13 Missing ⚠️
perception/tensorrt_yolo/lib/src/trt_yolo.cpp	0.00%	12 Missing ⚠️
...raffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp	0.00%	12 Missing ⚠️
common/tensorrt_common/src/tensorrt_common.cpp	0.00%	1 Missing ⚠️
...tion/lidar_centerpoint/lib/network/network_trt.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6117      +/-   ##
==========================================
- Coverage   14.57%   14.56%   -0.01%     
==========================================
  Files        1874     1874              
  Lines      127671   127706      +35     
  Branches    37317    37317              
==========================================
  Hits        18605    18605              
- Misses      88145    88180      +35     
  Partials    20921    20921              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.57% <ø> (+<0.01%)	⬆️	Carriedforward from 1c4c3e3

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[manato]

@ktro2828
Thank you very much for the improvement. The modification to notify users that tensorrt-related operations are in progress looks user-friendly.
One quick question: It looks you have replaced some RCLCPP_ERROR into tensorrt_common::LOG_ERROR (like this). Do you have intention regarding this replacement?

[ktro2828]

@manato

One quick question: It looks you have replaced some RCLCPP_ERROR into tensorrt_common::LOG_ERROR (like this). Do you have intention regarding this replacement?

Thanks your comment.
Because the classes containing these replacements are not ROS nodes but just TensorRT library classes I think it is better to use TensorRT logging operation.

[manato]

@ktro2828
Thank you for the prompt response.

One quick question: It looks you have replaced some RCLCPP_ERROR into tensorrt_common::LOG_ERROR (like this). Do you have intention regarding this replacement?

Thanks your comment. Because the classes containing these replacements are not ROS nodes but just TensorRT library classes I think it is better to use TensorRT logging operation.

I completely agree with your opinion. Thanks for clarifying.
Besides, I've tested the behavior by ros2 launch tensorrt_yolox yolox.launch.xml and confirmed the PR looks working as expected.

[miursh]

@ktro2828
I could not find the message in traffic_light_fine_detector.
Could you take a look at this?

centerpoint: LGTM

pointpainting: LGTM

apollo: LGTM

yolo: LGTM

yolox: LGTM

traffic_light_classifier: LGTM

traffic_light_fine_detector

traffic_light_ssd_fine_detector: LGTM

[ktro2828]

@miursh Thanks for your review.

I found missing to update the log output setting in launcher. I added output="screen" in a9e7b2d

• before

• after

[miursh]

Thanks!
LGTM