From ab261486fb7416be32b9bd62aeb28077b8db2666 Mon Sep 17 00:00:00 2001
From: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>
Date: Thu, 9 Nov 2023 22:47:15 +0900
Subject: [PATCH] feat: add glog

Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>
---
 .../launch/pointcloud_preprocessor.launch.py     |  8 +++++++-
 aip_x1_launch/package.xml                        |  1 +
 .../launch/pointcloud_preprocessor.launch.py     |  8 +++++++-
 aip_x2_launch/package.xml                        |  1 +
 .../launch/pointcloud_preprocessor.launch.py     |  8 +++++++-
 aip_xx1_launch/package.xml                       |  1 +
 .../launch/nebula_node_container.launch.py       | 16 +++++++++++++++-
 common_sensor_launch/package.xml                 |  1 +
 8 files changed, 40 insertions(+), 4 deletions(-)

diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
index bf120a8f..6eb2ca76 100644
--- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py
@@ -67,9 +67,15 @@ def launch_setup(context, *args, **kwargs):
         else LaunchConfiguration("container_name")
     )
 
+    glog_component = ComposableNode(
+        package="glog_component",
+        plugin="GlogComponent",
+        name="glog_component",
+    )
+
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
-        composable_node_descriptions=[concat_component],
+        composable_node_descriptions=[concat_component, glog_component],
         target_container=target_container,
     )
 
diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml
index f8c13820..1a35c420 100644
--- a/aip_x1_launch/package.xml
+++ b/aip_x1_launch/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>compare_map_segmentation</exec_depend>
+  <exec_depend>glog_component</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
   <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
index ae5c2022..d86c794f 100644
--- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py
@@ -73,9 +73,15 @@ def launch_setup(context, *args, **kwargs):
         else LaunchConfiguration("container_name")
     )
 
+    glog_component = ComposableNode(
+        package="glog_component",
+        plugin="GlogComponent",
+        name="glog_component",
+    )
+
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
-        composable_node_descriptions=[concat_component],
+        composable_node_descriptions=[concat_component, glog_component],
         target_container=target_container,
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )
diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml
index 56b2ef8b..67963e10 100644
--- a/aip_x2_launch/package.xml
+++ b/aip_x2_launch/package.xml
@@ -12,6 +12,7 @@
 
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>dummy_diag_publisher</exec_depend>
+  <exec_depend>glog_component</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
   <exec_depend>pointcloud_preprocessor</exec_depend>
   <exec_depend>septentrio_gnss_driver</exec_depend>
diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index 377c916e..26787674 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -74,9 +74,15 @@ def launch_setup(context, *args, **kwargs):
         else LaunchConfiguration("container_name")
     )
 
+    glog_component = ComposableNode(
+        package="glog_component",
+        plugin="GlogComponent",
+        name="glog_component",
+    )
+
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
-        composable_node_descriptions=[concat_component],
+        composable_node_descriptions=[concat_component, glog_component],
         target_container=target_container,
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )
diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml
index ab216a7d..35f668c8 100644
--- a/aip_xx1_launch/package.xml
+++ b/aip_xx1_launch/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>common_sensor_launch</exec_depend>
+  <exec_depend>glog_component</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
   <exec_depend>pacmod3</exec_depend>
   <exec_depend>pointcloud_preprocessor</exec_depend>
diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
index a237372e..bbe59d5d 100644
--- a/common_sensor_launch/launch/nebula_node_container.launch.py
+++ b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -193,6 +193,14 @@ def create_parameter_dict(*args):
         )
     )
 
+    nodes.append(
+        ComposableNode(
+            package="glog_component",
+            plugin="GlogComponent",
+            name="glog_component",
+        )
+    )
+
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name=LaunchConfiguration("container_name"),
@@ -238,6 +246,12 @@ def create_parameter_dict(*args):
         ],
     )
 
+    glog_component = ComposableNode(
+        package="glog_component",
+        plugin="GlogComponent",
+        name="glog_component",
+    )
+
     target_container = (
         container
         if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
@@ -245,7 +259,7 @@ def create_parameter_dict(*args):
     )
 
     driver_component_loader = LoadComposableNodes(
-        composable_node_descriptions=[driver_component],
+        composable_node_descriptions=[driver_component, glog_component],
         target_container=target_container,
         condition=IfCondition(LaunchConfiguration("launch_driver")),
     )
diff --git a/common_sensor_launch/package.xml b/common_sensor_launch/package.xml
index 179c269b..a07ac3ef 100644
--- a/common_sensor_launch/package.xml
+++ b/common_sensor_launch/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>dummy_diag_publisher</exec_depend>
+  <exec_depend>glog_component</exec_depend>
   <exec_depend>nebula_sensor_driver</exec_depend>
   <exec_depend>velodyne_monitor</exec_depend>