feat(imu_corrector): componentize ImuCorrector and GyroBiasEstimator

[a-maumau]

Description

Componentize the nodes in sensing/imu_corrector (imu_corrector and gyro_bias_estimator).
(Add glog feature to sensing/imu_corrector)

Also, log output is changed from "screen" to "both".

Tests performed

Confirmed that terminating the imu_corrector_node and gyro_bias_estimator_node processes will output logs to both the terminal and the log file.

1716783596.3383102 [imu_corrector_node-33] [INFO] [1716783596.337679344] [rclcpp]: signal_handler(signum=15)
1716783596.3391259 [imu_corrector_node-33] *** Aborted at 1716783596 (unix time) try "date -d @1716783596" if you are using GNU date ***
1716783596.3396835 [imu_corrector_node-33] PC: @                0x0 (unknown)
1716783596.3397698 [imu_corrector_node-33] *** SIGTERM (@0x3e800086304) received by PID 767926 (TID 0x7fd7e3847680) from PID 549636; stack trace: ***
1716783596.3402882 [imu_corrector_node-33]     @     0x7fd7e3e3b4d6 google::(anonymous namespace)::FailureSignalHandler()
1716783596.3408108 [imu_corrector_node-33]     @     0x7fd7e3c19ded rclcpp::SignalHandler::signal_handler()
1716783596.3408952 [imu_corrector_node-33]     @     0x7fd7e3242520 (unknown)
1716783596.3414073 [imu_corrector_node-33]     @     0x7fd7e3291117 (unknown)
1716783596.3414905 [imu_corrector_node-33]     @     0x7fd7e3293a41 pthread_cond_wait
1716783596.3415568 [imu_corrector_node-33]     @     0x7fd7e3184a8d ddsrt_cond_wait
1716783596.3416171 [imu_corrector_node-33]     @     0x7fd7e3184b55 ddsrt_cond_waituntil
1716783596.3421240 [imu_corrector_node-33]     @     0x7fd7e316b45d (unknown)
1716783596.3422210 [imu_corrector_node-33]     @     0x7fd7e353e74f rmw_wait
1716783596.3427379 [imu_corrector_node-33]     @     0x7fd7e3d3f848 rcl_wait
1716783596.3428211 [imu_corrector_node-33]     @     0x7fd7e3b611b6 rclcpp::Executor::wait_for_work()
1716783596.3433368 [imu_corrector_node-33]     @     0x7fd7e3b616d3 rclcpp::Executor::get_next_executable()
1716783596.3434203 [imu_corrector_node-33]     @     0x7fd7e3b65c81 rclcpp::executors::SingleThreadedExecutor::spin()
1716783596.3434865 [imu_corrector_node-33]     @     0x562a002db486 main
1716783596.3441241 [imu_corrector_node-33]     @     0x7fd7e3229d90 (unknown)
1716783596.3442211 [imu_corrector_node-33]     @     0x7fd7e3229e40 __libc_start_main
1716783596.3442669 [imu_corrector_node-33]     @     0x562a002dbe35 _start
1716783596.3445566 [ERROR] [imu_corrector_node-33]: process has died ...
1716783604.2379341 [gyro_bias_estimator_node-34] [INFO] [1716783604.236807535] [rclcpp]: signal_handler(signum=15)
1716783604.2400322 [gyro_bias_estimator_node-34] *** Aborted at 1716783604 (unix time) try "date -d @1716783604" if you are using GNU date ***
1716783604.2426136 [gyro_bias_estimator_node-34] PC: @                0x0 (unknown)
1716783604.2430096 [gyro_bias_estimator_node-34] *** SIGTERM (@0x3e800086304) received by PID 767930 (TID 0x7f414aecf680) from PID 549636; stack trace: ***
1716783604.2430863 [gyro_bias_estimator_node-34]     @     0x7f414b76c4d6 google::(anonymous namespace)::FailureSignalHandler()
1716783604.2434404 [gyro_bias_estimator_node-34]     @     0x7f414b619ded rclcpp::SignalHandler::signal_handler()
1716783604.2434959 [gyro_bias_estimator_node-34]     @     0x7f414ac42520 (unknown)
1716783604.2438271 [gyro_bias_estimator_node-34]     @     0x7f414ac91117 (unknown)
1716783604.2438817 [gyro_bias_estimator_node-34]     @     0x7f414ac93a41 pthread_cond_wait
1716783604.2439241 [gyro_bias_estimator_node-34]     @     0x7f414ab84a8d ddsrt_cond_wait
1716783604.2443535 [gyro_bias_estimator_node-34]     @     0x7f414ab84b55 ddsrt_cond_waituntil
1716783604.2444127 [gyro_bias_estimator_node-34]     @     0x7f414ab6b45d (unknown)
1716783604.2444568 [gyro_bias_estimator_node-34]     @     0x7f414ae7874f rmw_wait
1716783604.2448320 [gyro_bias_estimator_node-34]     @     0x7f414b3a7848 rcl_wait
1716783604.2452538 [gyro_bias_estimator_node-34]     @     0x7f414b5611b6 rclcpp::Executor::wait_for_work()
1716783604.2456143 [gyro_bias_estimator_node-34]     @     0x7f414b5616d3 rclcpp::Executor::get_next_executable()
1716783604.2460878 [gyro_bias_estimator_node-34]     @     0x7f414b565c81 rclcpp::executors::SingleThreadedExecutor::spin()
1716783604.2461460 [gyro_bias_estimator_node-34]     @     0x5609a0cca486 main
1716783604.2462168 [gyro_bias_estimator_node-34]     @     0x7f414ac29d90 (unknown)
1716783604.2465637 [gyro_bias_estimator_node-34]     @     0x7f414ac29e40 __libc_start_main
1716783604.2466195 [gyro_bias_estimator_node-34]     @     0x5609a0ccae35 _start
1716783604.2467825 [ERROR] [gyro_bias_estimator_node-34]: process has died ...

Effects on system behavior

Not applicable.

Interface changes

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.