From d9c232476194ee4b16b3cf3dffcf1009fd433cb2 Mon Sep 17 00:00:00 2001
From: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com>
Date: Thu, 14 Dec 2023 00:20:30 +0900
Subject: [PATCH] feat: add `glog_component` to `aip_xx1_launch` (#184)

* feat: add glog

Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>

* fix: modify mistakes about glog component

Signed-off-by: Shin-kyoto <aquashin0202@gmail.com>

* feat: remove glog from x2, x1

Signed-off-by: Shin-kyoto <aquashin0202@gmail.com>

* fix: upfate common sensor launch

Signed-off-by: Shin-kyoto <aquashin0202@gmail.com>

* feat: remove glog from common_sensor_launch

Signed-off-by: Shin-kyoto <aquashin0202@gmail.com>

* fix: add glog_component to concat_loader

Signed-off-by: Shin-kyoto <aquashin0202@gmail.com>

---------

Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>
Signed-off-by: Shin-kyoto <aquashin0202@gmail.com>
---
 .../launch/pointcloud_preprocessor.launch.py           | 10 ++++++++--
 aip_xx1_launch/package.xml                             |  1 +
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
index e1888824..a2a0fd45 100644
--- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
+++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
@@ -57,13 +57,19 @@ def launch_setup(context, *args, **kwargs):
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )
 
+    glog_component = ComposableNode(
+        package="glog_component",
+        plugin="GlogComponent",
+        name="glog_component",
+    )
+
     # set container to run all required components in the same process
     container = ComposableNodeContainer(
         name=LaunchConfiguration("container_name"),
         namespace="",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[],
+        composable_node_descriptions=[glog_component],
         condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
     )
@@ -76,7 +82,7 @@ def launch_setup(context, *args, **kwargs):
 
     # load concat or passthrough filter
     concat_loader = LoadComposableNodes(
-        composable_node_descriptions=[concat_component],
+        composable_node_descriptions=[concat_component, glog_component],
         target_container=target_container,
         condition=IfCondition(LaunchConfiguration("use_concat_filter")),
     )
diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml
index 29e8c943..93246e4b 100644
--- a/aip_xx1_launch/package.xml
+++ b/aip_xx1_launch/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>common_sensor_launch</exec_depend>
+  <exec_depend>glog_component</exec_depend>
   <exec_depend>gnss_poser</exec_depend>
   <exec_depend>imu_corrector</exec_depend>
   <exec_depend>pacmod3</exec_depend>