From e58fa5b3c8209238f63335c0f9026ab315d4c87a Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 9 Apr 2024 09:44:22 +0900
Subject: [PATCH] feat(shape_estimation): add glog

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 perception/shape_estimation/CMakeLists.txt |  9 ++++--
 perception/shape_estimation/src/main.cpp   | 34 ++++++++++++++++++++++
 2 files changed, 40 insertions(+), 3 deletions(-)
 create mode 100644 perception/shape_estimation/src/main.cpp

diff --git a/perception/shape_estimation/CMakeLists.txt b/perception/shape_estimation/CMakeLists.txt
index 8eb7a15b5a885..8b51d1cce3587 100644
--- a/perception/shape_estimation/CMakeLists.txt
+++ b/perception/shape_estimation/CMakeLists.txt
@@ -57,9 +57,12 @@ target_link_libraries(shape_estimation_node
   shape_estimation_lib
 )
 
-rclcpp_components_register_node(shape_estimation_node
-  PLUGIN "ShapeEstimationNode"
-  EXECUTABLE shape_estimation
+ament_auto_add_executable(${PROJECT_NAME}
+  src/main.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  shape_estimation_node glog
 )
 
 ament_auto_package(INSTALL_TO_SHARE
diff --git a/perception/shape_estimation/src/main.cpp b/perception/shape_estimation/src/main.cpp
new file mode 100644
index 0000000000000..9479c21144b4b
--- /dev/null
+++ b/perception/shape_estimation/src/main.cpp
@@ -0,0 +1,34 @@
+// Copyright 2024 TIER IV, inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "node.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <glog/logging.h>
+
+int main(int argc, char ** argv)
+{
+  google::InitGoogleLogging(argv[0]);  // NOLINT
+  google::InstallFailureSignalHandler();
+
+  rclcpp::init(argc, argv);
+  rclcpp::NodeOptions options;
+  auto shape_estimation_node = std::make_shared<ShapeEstimationNode>(options);
+  rclcpp::executors::SingleThreadedExecutor exec;
+  exec.add_node(shape_estimation_node);
+  exec.spin();
+  rclcpp::shutdown();
+  return 0;
+}