chore(glog): add initialization check

[TakaHoribe]

Description

Add IsGoogleLoggingInitialized() check before glog initialization as the multiple initializations terminate the process.

Related links

Must be merged after

• feat(autoware.repos): add glog with v0.6.0 as a ros pkg autoware#4614
• feat(build_depends): add glog-vendor #6952

Tests performed

• Build
• Run psim
• Confirm the glog works correctly as before
  • kill -15 <pid> should show the stack trace for the glog-installed process, e.g. map_based_prediction
    

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

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[xmfcx]

@TakaHoribe we used https://github.com/bombela/backward-cpp before for similar purposes and it was really good at printing the causes of segfaults.

Maybe you can try it too.

[xmfcx]

Also you need to add

  universe/external/glog:  # TODO(Horibe): to use isGoogleInitialized() API in v0.6.0. Remove when the rosdep glog version is updated to v0.6.0 (already updated in Ubuntu 24.04)
    type: git
    url: https://github.com/tier4/glog.git
    version: v0.6.0_t4-ros

to

• https://github.com/autowarefoundation/autoware.universe/blob/main/build_depends.repos

[xmfcx]

It seems they made a ROS 2 package for it too: https://github.com/pal-robotics/backward_ros

I will test backward-cpp and open up a separate PR.

Never mind, I couldn't get it working with ROS 2 component containers. Let's keep using glog's signal handlers.

Tested again and it works:

• feat: backwardcpp test #6796 (comment)

[KYabuuchi]

LGTM for the localization packages 👍

• pose_estimator_arbiter
• yabloc_common
• yabloc_particle_filter
• ndt_scan_matcher

[TakaHoribe]

@xmfcx Thank you for the investigation of backward-cpp. Let me merge this PR first. The backward-cpp looks much better than glog, but it still has an issue with ros-component. If the issue is sloved, I want to replace all glog with backward-cpp.

[xmfcx]

Of course, I agree.

need to rebase

[xmfcx]

@TakaHoribe could you rebase to latest main? The CI is failing.

[xmfcx]

From above: #6792 (comment)

Also you need to add

  universe/external/glog:  # TODO(Horibe): to use isGoogleInitialized() API in v0.6.0. Remove when the rosdep glog version is updated to v0.6.0 (already updated in Ubuntu 24.04)
    type: git
    url: https://github.com/tier4/glog.git
    version: v0.6.0_t4-ros

to

• https://github.com/autowarefoundation/autoware.universe/blob/main/build_depends.repos

Or CI won't pass. I thought we added this before but it was here. @TakaHoribe

[xmfcx]

I could add it too but you should Allow edits from maintainers on the PR.

[TakaHoribe]

@xmfcx Thank you! I submitted it in a different PR: #6952

[xmfcx]

Now needs to be rebased again 🙏