feat(pose_instability_detector): componentize PoseInstabilityDetector

[a-maumau]

Description

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

Log output is changed from "log" to "both".

Tests performed

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

1716533414.7249701 [pose_instability_detector_node-44] [INFO] [1716533414.724666248] [rclcpp]: signal_handler(signum=15)
1716533414.7250943 [pose_instability_detector_node-44] *** Aborted at 1716533414 (unix time) try "date -d @1716533414" if you are using GNU date ***
1716533414.7256374 [pose_instability_detector_node-44] PC: @                0x0 (unknown)
1716533414.7260568 [pose_instability_detector_node-44] *** SIGTERM (@0x3e8001c1f43) received by PID 3205429 (TID 0x7fa97a75f680) from PID 1843011; stack trace: ***
1716533414.7261178 [pose_instability_detector_node-44]     @     0x7fa97affe4d6 google::(anonymous namespace)::FailureSignalHandler()
1716533414.7264707 [pose_instability_detector_node-44]     @     0x7fa97ae19ded rclcpp::SignalHandler::signal_handler()
1716533414.7268443 [pose_instability_detector_node-44]     @     0x7fa97a442520 (unknown)
1716533414.7269030 [pose_instability_detector_node-44]     @     0x7fa97a491117 (unknown)
1716533414.7272096 [pose_instability_detector_node-44]     @     0x7fa97a493e9b pthread_cond_timedwait
1716533414.7272685 [pose_instability_detector_node-44]     @     0x7fa97a384b19 ddsrt_cond_waituntil
1716533414.7273123 [pose_instability_detector_node-44]     @     0x7fa97a36b45d (unknown)
1716533414.7276592 [pose_instability_detector_node-44]     @     0x7fa97a70874f rmw_wait
1716533414.7277162 [pose_instability_detector_node-44]     @     0x7fa97af00848 rcl_wait
1716533414.7280862 [pose_instability_detector_node-44]     @     0x7fa97ad611b6 rclcpp::Executor::wait_for_work()
1716533414.7284558 [pose_instability_detector_node-44]     @     0x7fa97ad616d3 rclcpp::Executor::get_next_executable()
1716533414.7288284 [pose_instability_detector_node-44]     @     0x7fa97ad65c81 rclcpp::executors::SingleThreadedExecutor::spin()
1716533414.7288868 [pose_instability_detector_node-44]     @     0x55ebebebd486 main
1716533414.7295616 [pose_instability_detector_node-44]     @     0x7fa97a429d90 (unknown)
1716533414.7296236 [pose_instability_detector_node-44]     @     0x7fa97a429e40 __libc_start_main
1716533414.7296727 [pose_instability_detector_node-44]     @     0x55ebebebde35 _start
1716533414.7305017 [ERROR] [pose_instability_detector_node-44]: process has died ...

Effects on system behavior

Not applicable.

Interface changes

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[SakodaShintaro]

I also confirmed that logging_simulator and glog work well. 👍
Thank you!