feat(pose2twist): componentize Pose2Twist

[a-maumau]

Description

Componentize the node in localization/pose2twist.
(Add glog feature to localization/pose2twist)

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

Tests performed

Confirmed that killing the pose2twist process will output logs to terminal and log file.

Since it would not get launched from Autoware, use ros2 launch steer_offset_estimator steer_offset_estimator.launch.xml for testing.

1716529333.4860659 [pose2twist_node-1] [INFO] [1716529333.485785831] [rclcpp]: signal_handler(signum=15)
1716529333.4862173 [pose2twist_node-1] *** Aborted at 1716529333 (unix time) try "date -d @1716529333" if you are using GNU date ***
1716529333.4865763 [pose2twist_node-1] PC: @                0x0 (unknown)
1716529333.4867558 [pose2twist_node-1] *** SIGTERM (@0x3e8001c1f43) received by PID 2936661 (TID 0x7f44a8ac1680) from PID 1843011; stack trace: ***
1716529333.4871893 [pose2twist_node-1]     @     0x7f44a935f4d6 google::(anonymous namespace)::FailureSignalHandler()
1716529333.4876823 [pose2twist_node-1]     @     0x7f44a9219ded rclcpp::SignalHandler::signal_handler()
1716529333.4878738 [pose2twist_node-1]     @     0x7f44a8842520 (unknown)
1716529333.4881654 [pose2twist_node-1]     @     0x7f44a8891117 (unknown)
1716529333.4885235 [pose2twist_node-1]     @     0x7f44a8893a41 pthread_cond_wait
1716529333.4885864 [pose2twist_node-1]     @     0x7f44a8784a8d ddsrt_cond_wait
1716529333.4887547 [pose2twist_node-1]     @     0x7f44a8784b55 ddsrt_cond_waituntil
1716529333.4889114 [pose2twist_node-1]     @     0x7f44a876b45d (unknown)
1716529333.4889636 [pose2twist_node-1]     @     0x7f44a8a6a74f rmw_wait
1716529333.4891562 [pose2twist_node-1]     @     0x7f44a8fa0848 rcl_wait
1716529333.4894979 [pose2twist_node-1]     @     0x7f44a91611b6 rclcpp::Executor::wait_for_work()
1716529333.4899106 [pose2twist_node-1]     @     0x7f44a91616d3 rclcpp::Executor::get_next_executable()
1716529333.4902816 [pose2twist_node-1]     @     0x7f44a9165c81 rclcpp::executors::SingleThreadedExecutor::spin()
1716529333.4905012 [pose2twist_node-1]     @     0x556beb94f486 main
1716529333.4907055 [pose2twist_node-1]     @     0x7f44a8829d90 (unknown)
1716529333.4911823 [pose2twist_node-1]     @     0x7f44a8829e40 __libc_start_main
1716529333.4912550 [pose2twist_node-1]     @     0x556beb94fe35 _start
1716529333.4916301 [ERROR] [pose2twist_node-1]: process has died ...

Effects on system behavior

Not applicable.

Interface changes

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[SakodaShintaro]

I confirmed that glog works well 😄
Looks Good To Me