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feat(ndt_scan_matcher): use glog (#5465) #1003

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feat(ndt_scan_matcher): use glog (#5465) #1003

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3 changes: 2 additions & 1 deletion localization/ndt_scan_matcher/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@ else()
endif()
endif()

find_package(glog REQUIRED)
find_package(PCL REQUIRED COMPONENTS common io registration)
include_directories(${PCL_INCLUDE_DIRS})

Expand All @@ -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
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1 change: 1 addition & 0 deletions localization/ndt_scan_matcher/package.xml
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Expand Up @@ -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>
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5 changes: 5 additions & 0 deletions localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp
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Expand Up @@ -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;
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