feat(autoware.repos): add glog with v0.6.0 as a ros pkg

[TakaHoribe]

Description

Currently, We are using Google's glog library to capture stack traces when a process dies, which is very useful for development. See examples in Autoware: ex1, ex2.

Due to the way of ROS 2 component launch procedure, glog sometimes be loaded as a module. However, it's not permissible to initialize glog multiple times, and glog will terminate the process if this occurs.

We can find some discussions about that, for example here.

To avoid this, it's necessary to use the IsGoogleLoggingInitialized() API, introduced in version v0.6.0 of glog. However, the glog deb package distributed with Ubuntu 22 is based on version v0.4.0. I plan to resolve this issue by registering version v0.6.0 in the repos.

I note that the Ubuntu 24 glog deb package adopts version v0.6.0, so updating to Ubuntu 24 will allow us to eliminate this dependency.

Related links

Tests performed

1. Import autoware.repos
2. run build
3. check the psim/lsim works well.
4. check if kill -15 <pid> will show the glog on terminal

Notes for reviewers

Interface changes

None

Effects on system behavior

None (glog version will be updated. We need to follow the update in each package)

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[TakaHoribe]

@mitsudome-r @xmfcx I've made this PR to improve the logging system. What do you think? Thank you for your comment.

[xmfcx]

@TakaHoribe It makes sense to add this.

How long does it take to compile glog, just out of curiosity?

Also, I don't know if compiling glog requires additional dependencies.

But we can add and see, thanks!

[xmfcx]

@TakaHoribe instead of updating to the latest version, this solution will probably work too with the old version:

• Allow glog to be queried as to whether or not InitGoogleLogging has been called. google/glog#125 (comment)

This is still an issue but with a fairly easy work around. (Unless I'm missing something obvious)

We just need access to
bool IsGoogleLoggingInitialized();
Which is defined in the glog/src/utilities.h

So just define the following in your own code.

namespace google {
  namespace glog_internal_namespace_ {
    extern bool IsGoogleLoggingInitialized();
  }
  const auto& IsGoogleLoggingInitialized = glog_internal_namespace_::IsGoogleLoggingInitialized;
}

The linker should take care of linking the symbol to its implementation in glog.

So now you can simply use the function as google::IsGoogleLoggingInitialized()

We could just create a simple header file like this and call it.

Since we are using version 0.4 this small fix should work fine for us.

When updated to the Ubuntu 24.04 we can remove the header and keep using the same function.

This way we don't recompile the glog on Autoware machines.

[TakaHoribe]

@xmfcx Thank you, Fatih.

The build of glog takes only 10 seconds:

horibe@dpc2210001:~/workspace/autoware [main] ?14$ rm -rf install/glog build/glog
horibe@dpc2210001:~/workspace/autoware [main] ?14$ colcon_build_release  --packages-select glog
Starting >>> glog    
Finished <<< glog [9.31s]                      

Summary: 1 package finished [10.9s]

I'll try this as well!
#4614 (comment)

[xmfcx]

@TakaHoribe you should also remove the ccache, or displace it temporarily to get the real numbers. 10s sounds too fast.

You can do ccache -s to get the cache directory.

[TakaHoribe]

@xmfcx It is the result without ccache. With ccache, the build time is only 6s.

[xmfcx]

@TakaHoribe I have also confirmed it is quite fast, so, for me either way it works.

glog fork

Pros:

• Easy to apply, no changes in source code

Cons:

• 10-12 seconds of prior compilation time for planning packages that use it.

extra header

Pros:

• No compilation overhead

Cons:

• Add a simple header to a new package or a common package like autoware_utils
• Include it in the packages that should init the glog
• Remove it when upgraded to the next version

I leave the decision to you, either way is ok with me.

[TakaHoribe]

@xmfcx Thank you for the summary!

I tried the "extra-header" way, and it seems to work.

I've noticed some drawbacks.

• Creating a separate header for each package is cumbersome.
• Using a utility file for the header adds another dependency. We need both glog and glog-extra-header, plus an additional include statement.

In contrast, upgrading to a new version via a fork is simpler. When we switch to Ubuntu 24.04, we'll just need to change the .repos file and switch the dependency.

I assume we'll update Ubuntu soon (at least it is not far future), so let us go with the glog-fork approach.

[felixf4xu]

I'm not using a docker, so if I have already installed libgoogle-glog-dev for other projects in the Ubuntu system (it's v0.4), do I need to uninstall the system glog to use the external/glog/src copy?

[xmfcx]

You shouldn't need to uninstall it. But after the latest glog related update,
I would suggest to remove the build and install folders and do a clean build.

It should use the glog from the workspace.

[xmfcx]

mfc@mfc-leo:~$ apt list | grep libgoogle-glog

WARNING: apt does not have a stable CLI interface. Use with caution in scripts.

libgoogle-glog-dev/jammy,now 0.5.0+really0.4.0-2 amd64 [installed]
libgoogle-glog-doc/jammy 0.5.0+really0.4.0-2 all
libgoogle-glog0v5/jammy,now 0.5.0+really0.4.0-2 amd64 [installed,automatic]

I have this on my Ubuntu 22.04 and I can build and run the latest Autoware without problems on it. colcon automatically uses it from the autoware workspace.

[felixf4xu]

remove the build and install folders and do a clean build

thanks, cleaning the cmake cache worked for me.