feat(map_based_prediction): use glog (#5721)

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Author: kyoichi-sugahara

perception/map_based_prediction/CMakeLists.txt

@@ -6,6 +6,8 @@ autoware_package()
 
 find_package(Eigen3 REQUIRED)
 
+find_package(glog REQUIRED)
+
 include_directories(
   SYSTEM
     ${EIGEN3_INCLUDE_DIR}
@@ -17,6 +19,8 @@ ament_auto_add_library(map_based_prediction_node SHARED
   src/debug.cpp
 )
 
+target_link_libraries(map_based_prediction_node glog::glog)
+
 rclcpp_components_register_node(map_based_prediction_node
   PLUGIN "map_based_prediction::MapBasedPredictionNode"
   EXECUTABLE map_based_prediction

perception/map_based_prediction/package.xml

@@ -18,6 +18,7 @@
   <depend>autoware_auto_perception_msgs</depend>
   <depend>interpolation</depend>
   <depend>lanelet2_extension</depend>
+  <depend>libgoogle-glog-dev</depend>
   <depend>motion_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

perception/map_based_prediction/src/map_based_prediction_node.cpp

@@ -43,6 +43,8 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
+#include <glog/logging.h>
+
 #include <algorithm>
 #include <chrono>
 #include <cmath>
@@ -718,6 +720,8 @@ void replaceObjectYawWithLaneletsYaw(
 MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_options)
 : Node("map_based_prediction", node_options), debug_accumulated_time_(0.0)
 {
+  google::InitGoogleLogging("map_based_prediction_node");
+  google::InstallFailureSignalHandler();
   enable_delay_compensation_ = declare_parameter<bool>("enable_delay_compensation");
   prediction_time_horizon_ = declare_parameter<double>("prediction_time_horizon");
   lateral_control_time_horizon_ =