From 04d8aa8af2be064dae0e51dc3ad63b45a65ccf9a Mon Sep 17 00:00:00 2001
From: Tomohito ANDO <tomohito.ando@tier4.jp>
Date: Fri, 24 Nov 2023 20:14:29 +0900
Subject: [PATCH] feat(ndt_scan_matcher): use glog (#5465) (#1031)

* feat(ndt_scan_matcher): use glog



* style(pre-commit): autofix

* update



* style(pre-commit): autofix

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 localization/ndt_scan_matcher/CMakeLists.txt                | 3 ++-
 localization/ndt_scan_matcher/package.xml                   | 1 +
 localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp | 5 +++++
 3 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt
index 1d5a9d5ac5320..88223793d5584 100644
--- 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
index 92c690a708492..d5ee50b58f5e2 100644
--- 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
index be6b398d7738e..d5ea544d3c5e5 100644
--- 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;