feat(ndt_scan_matcher): use glog (autowarefoundation#5465) (#1031)

* feat(ndt_scan_matcher): use glog * style(pre-commit): autofix * update * style(pre-commit): autofix --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Nov 24, 2023 · 04d8aa8 · 04d8aa8
1 parent 171d721
commit 04d8aa8
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Showing 3 changed files with 8 additions and 1 deletion.
diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt
@@ -22,6 +22,7 @@ else()
   endif()
 endif()
 
+find_package(glog REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common io registration)
 include_directories(${PCL_INCLUDE_DIRS})
 
@@ -37,7 +38,7 @@ ament_auto_add_executable(ndt_scan_matcher
 )
 
 link_directories(${PCL_LIBRARY_DIRS})
-target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES})
+target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES} glog::glog)
 
 ament_auto_package(
   INSTALL_TO_SHARE

diff --git a/localization/ndt_scan_matcher/package.xml b/localization/ndt_scan_matcher/package.xml
@@ -18,6 +18,7 @@
   <depend>diagnostic_msgs</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
+  <depend>libgoogle-glog-dev</depend>
   <depend>libpcl-all-dev</depend>
   <depend>nav_msgs</depend>
   <depend>ndt_omp</depend>

diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp
@@ -16,8 +16,13 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#include <glog/logging.h>
+
 int main(int argc, char ** argv)
 {
+  google::InitGoogleLogging(argv[0]);
+  google::InstallFailureSignalHandler();
+
   rclcpp::init(argc, argv);
   auto ndt_scan_matcher = std::make_shared<NDTScanMatcher>();
   rclcpp::executors::MultiThreadedExecutor exec;