fix(multi_object_tracker): revert mot node implementation to composable node components (#7117)

* Revert "chore(multi_object_tracker): change node and glog implementation (#6780)"

This reverts commit 81c432e.

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: follow executable naming rule

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: update executable name

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

Author: technolojin

perception/multi_object_tracker/CMakeLists.txt

@@ -44,17 +44,18 @@ set(MULTI_OBJECT_TRACKER_SRC
   src/tracker/model/pass_through_tracker.cpp
 )
 
-ament_auto_add_library(multi_object_tracker_node SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   ${MULTI_OBJECT_TRACKER_SRC}
 )
 
-target_link_libraries(multi_object_tracker_node
+target_link_libraries(${PROJECT_NAME}
   Eigen3::Eigen
   glog::glog
 )
 
-ament_auto_add_executable(${PROJECT_NAME}
-  src/multi_object_tracker_node.cpp
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "multi_object_tracker::MultiObjectTracker"
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
 ament_auto_package(INSTALL_TO_SHARE

perception/multi_object_tracker/launch/multi_object_tracker.launch.xml

@@ -6,7 +6,7 @@
   <arg name="data_association_matrix_path" default="$(find-pkg-share multi_object_tracker)/config/data_association_matrix.param.yaml"/>
   <arg name="input_channels_path" default="$(find-pkg-share multi_object_tracker)/config/input_channels.param.yaml"/>
 
-  <node pkg="multi_object_tracker" exec="multi_object_tracker" name="multi_object_tracker" output="screen">
+  <node pkg="multi_object_tracker" exec="multi_object_tracker_node" name="multi_object_tracker" output="screen">
     <param name="selected_input_channels" value="$(var selected_input_channels)"/>
     <remap from="output" to="$(var output)"/>
     <param from="$(var tracker_setting_path)"/>

perception/multi_object_tracker/src/multi_object_tracker_core.cpp

@@ -75,6 +75,12 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options)
   tf_listener_(tf_buffer_),
   last_published_time_(this->now())
 {
+  // glog for debug
+  if (!google::IsGoogleLoggingInitialized()) {
+    google::InitGoogleLogging("multi_object_tracker");
+    google::InstallFailureSignalHandler();
+  }
+
   // Get parameters
   double publish_rate = declare_parameter<double>("publish_rate");  // [hz]
   world_frame_id_ = declare_parameter<std::string>("world_frame_id");