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

This reverts commit 81c432e.

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

Author: technolojin

perception/multi_object_tracker/CMakeLists.txt

@@ -53,8 +53,9 @@ target_link_libraries(multi_object_tracker_node
   glog::glog
 )
 
-ament_auto_add_executable(${PROJECT_NAME}
-  src/multi_object_tracker_node.cpp
+rclcpp_components_register_node(multi_object_tracker_node
+  PLUGIN "multi_object_tracker::MultiObjectTracker"
+  EXECUTABLE multi_object_tracker
 )
 
 ament_auto_package(INSTALL_TO_SHARE

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");