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feat(map_projection_loader): componentize MapProjectionLoader #7108

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a-maumau
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@a-maumau a-maumau commented May 24, 2024

Description

Componentize the node in map/map_projection_loader.
(Add glog feature to map/map_projection_loader)

Also, log output is changed from "screen" to "both".

Tests performed

confirmed that killing the map_projection_loader process will output logs to terminal and log file.

1716518405.4245486 [component_container_mt-57] [INFO] [1716518405.423379779] [control.trajectory_follower.lane_departure_checker_node]: waiting for route msg...
1716518409.0239754 [map_projection_loader_node-28] [INFO] [1716518409.023433474] [rclcpp]: signal_handler(signum=15)
1716518409.0241122 [map_projection_loader_node-28] *** Aborted at 1716518409 (unix time) try "date -d @1716518409" if you are using GNU date ***
1716518409.0254688 [map_projection_loader_node-28] PC: @                0x0 (unknown)
1716518409.0261354 [map_projection_loader_node-28] *** SIGTERM (@0x3e8001c1f43) received by PID 2658533 (TID 0x7f5664a35680) from PID 1843011; stack trace: ***
1716518409.0267746 [map_projection_loader_node-28]     @     0x7f5664f454d6 google::(anonymous namespace)::FailureSignalHandler()
1716518409.0273538 [map_projection_loader_node-28]     @     0x7f5664e19ded rclcpp::SignalHandler::signal_handler()
1716518409.0279086 [map_projection_loader_node-28]     @     0x7f5664442520 (unknown)
1716518409.0279868 [map_projection_loader_node-28]     @     0x7f5664491117 (unknown)
1716518409.0284991 [map_projection_loader_node-28]     @     0x7f5664493a41 pthread_cond_wait
1716518409.0285807 [map_projection_loader_node-28]     @     0x7f5664316a8d ddsrt_cond_wait
1716518409.0286429 [map_projection_loader_node-28]     @     0x7f5664316b55 ddsrt_cond_waituntil
1716518409.0291827 [map_projection_loader_node-28]     @     0x7f56642fd45d (unknown)
1716518409.0293431 [map_projection_loader_node-28]     @     0x7f56643b974f rmw_wait
1716518409.0299428 [map_projection_loader_node-28]     @     0x7f5664b85848 rcl_wait
1716518409.0304940 [map_projection_loader_node-28]     @     0x7f5664d611b6 rclcpp::Executor::wait_for_work()
1716518409.0311561 [map_projection_loader_node-28]     @     0x7f5664d616d3 rclcpp::Executor::get_next_executable()
1716518409.0319254 [map_projection_loader_node-28]     @     0x7f5664d65c81 rclcpp::executors::SingleThreadedExecutor::spin()
1716518409.0320199 [map_projection_loader_node-28]     @     0x560295d91486 main
1716518409.0325541 [map_projection_loader_node-28]     @     0x7f5664429d90 (unknown)
1716518409.0330262 [map_projection_loader_node-28]     @     0x7f5664429e40 __libc_start_main
1716518409.0331109 [map_projection_loader_node-28]     @     0x560295d91e35 _start
1716518409.0351989 [ERROR] [map_projection_loader_node-28]: process has died

Effects on system behavior

Not applicable.

Interface changes

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a-maumau added 3 commits May 24, 2024 11:47
Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
@github-actions github-actions bot added the component:map Map creation, storage, and loading. (auto-assigned) label May 24, 2024
@SakodaShintaro SakodaShintaro added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label May 24, 2024
KYabuuchi
KYabuuchi previously approved these changes May 27, 2024
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Thank you for making PR
I have confirmed that the glog outputs the log when the process is killed. 👍

@KYabuuchi KYabuuchi dismissed their stale review May 27, 2024 01:37

I found the build-and-test-differential is failing, please wait

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@a-maumau Please modify the python files under map_projection_loader/test/.
Those files are trying to execute map_projection_loader instead of map_projection_loader_node. 🙏

You can also test map_projection_loader in the following way
colcon test --event-handlers console_cohesion+ summary+ --packages-select map_projection_loader

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
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a-maumau commented May 27, 2024

@KYabuuchi Thank you for mentioning me. I fix the executable args in the test files in d966f7d .

In my local environment, the test passed.

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CI has passed, so there is no problem.
Thank you!

@KYabuuchi KYabuuchi merged commit 54dfc05 into autowarefoundation:main May 27, 2024
21 of 22 checks passed
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…refoundation#7108)

* remove unusing main func file

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* mod to componentize and use glog

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* change log output from screen to both

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* change executable name to match CMakelists

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

---------

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
a-maumau added a commit to a-maumau/autoware.universe that referenced this pull request Jun 7, 2024
…refoundation#7108)

* remove unusing main func file

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* mod to componentize and use glog

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* change log output from screen to both

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* change executable name to match CMakelists

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

---------

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
@a-maumau a-maumau deleted the mau/feat/map/map_projection_loader branch July 22, 2024 06:17
KhalilSelyan pushed a commit that referenced this pull request Jul 22, 2024
* remove unusing main func file

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* mod to componentize and use glog

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* change log output from screen to both

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* change executable name to match CMakelists

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

---------

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
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3 participants