From 4badabfd9bdc5760d5949adad728ce1e1b3da787 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 9 Apr 2024 10:36:34 +0900
Subject: [PATCH 1/2] feat(object_merger): add glog

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

diff --git a/perception/object_merger/CMakeLists.txt b/perception/object_merger/CMakeLists.txt
index b02983db11af3..721c5eff31ede 100644
--- a/perception/object_merger/CMakeLists.txt
+++ b/perception/object_merger/CMakeLists.txt
@@ -28,9 +28,12 @@ target_link_libraries(object_association_merger
   Eigen3::Eigen
 )
 
-rclcpp_components_register_node(object_association_merger
-  PLUGIN "object_association::ObjectAssociationMergerNode"
-  EXECUTABLE object_association_merger_node
+ament_auto_add_executable(object_association_merger_node
+  src/object_association_merger/main.cpp
+)
+
+target_link_libraries(object_association_merger_node
+  object_association_merger glog
 )
 
 ament_auto_package(INSTALL_TO_SHARE
diff --git a/perception/object_merger/src/object_association_merger/main.cpp b/perception/object_merger/src/object_association_merger/main.cpp
new file mode 100644
index 0000000000000..480766fdcd496
--- /dev/null
+++ b/perception/object_merger/src/object_association_merger/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 "object_merger/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 object_association_merger = std::make_shared<object_association::ObjectAssociationMergerNode>(options);
+  rclcpp::executors::SingleThreadedExecutor exec;
+  exec.add_node(object_association_merger);
+  exec.spin();
+  rclcpp::shutdown();
+  return 0;
+}

From c562db3e8f614ec20ae1424b49d5642d742942be Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 9 Apr 2024 01:38:52 +0000
Subject: [PATCH 2/2] style(pre-commit): autofix

---
 .../object_merger/src/object_association_merger/main.cpp       | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/perception/object_merger/src/object_association_merger/main.cpp b/perception/object_merger/src/object_association_merger/main.cpp
index 480766fdcd496..a4a7fee90e96b 100644
--- a/perception/object_merger/src/object_association_merger/main.cpp
+++ b/perception/object_merger/src/object_association_merger/main.cpp
@@ -25,7 +25,8 @@ int main(int argc, char ** argv)
 
   rclcpp::init(argc, argv);
   rclcpp::NodeOptions options;
-  auto object_association_merger = std::make_shared<object_association::ObjectAssociationMergerNode>(options);
+  auto object_association_merger =
+    std::make_shared<object_association::ObjectAssociationMergerNode>(options);
   rclcpp::executors::SingleThreadedExecutor exec;
   exec.add_node(object_association_merger);
   exec.spin();