chore: Remove glog deps

Author: jian-dong

README.MD

@@ -68,7 +68,7 @@ Install deb dependencies
 
 ```bash
 # assume you have sourced ROS environment, same blow
-sudo apt install libgflags-dev nlohmann-json3-dev libgoogle-glog-dev \
+sudo apt install libgflags-dev nlohmann-json3-dev  \
 ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
 ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs
 ```

orbbec_camera/CMakeLists.txt

@@ -48,11 +48,7 @@ foreach (dep IN LISTS dependencies)
 endforeach ()
 
 find_package(PkgConfig REQUIRED)
-pkg_search_module(GLOG REQUIRED libglog)
 
-if (NOT GLOG_FOUND)
-  message(FATAL_ERROR "glog is not found")
-endif ()
 
 if (USE_RK_HW_DECODER)
   pkg_search_module(RK_MPP REQUIRED rockchip_mpp)
@@ -106,14 +102,12 @@ set(COMMON_INCLUDE_DIRS
   $<INSTALL_INTERFACE:include>
   ${ORBBEC_INCLUDE_DIR}
   ${OpenCV_INCLUDED_DIRS}
-  ${GLOG_INCLUDED_DIRS}
 )
 
 set(COMMON_LIBRARIES
   ${ORBBEC_SDK_LIBRARIES}
   ${OpenCV_LIBS}
   Eigen3::Eigen
-  ${GLOG_LIBRARIES}
   -lOrbbecSDK
   -L${ORBBEC_LIBS_DIR}
   Threads::Threads

orbbec_camera/include/orbbec_camera/jpeg_decoder.h

@@ -18,6 +18,7 @@
 #include <string>
 #include <vector>
 #include "libobsensor/ObSensor.hpp"
+#include "utils.h"
 
 namespace orbbec_camera {
 

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -16,7 +16,6 @@
 
 #pragma once
 
-#include <glog/logging.h>
 #include <nlohmann/json.hpp>
 
 #include <memory>

orbbec_camera/include/orbbec_camera/rk_mpp_decoder.h

@@ -24,6 +24,8 @@
 #include <rockchip/mpp_rc_defs.h>
 #include <rockchip/mpp_task.h>
 #include <rockchip/rk_mpi.h>
+#include "utils.h"
+
 #if defined(USE_LIBYUV)
 #include <libyuv.h>
 #else

orbbec_camera/include/orbbec_camera/synced_imu_publisher.h

@@ -16,7 +16,6 @@
 
 #pragma once
 #include <rclcpp/rclcpp.hpp>
-#include <glog/logging.h>
 #include <sensor_msgs/msg/imu.hpp>
 #include <queue>
 #include <mutex>

orbbec_camera/include/orbbec_camera/utils.h

@@ -16,7 +16,6 @@
 
 #pragma once
 #include <ostream>
-#include <glog/logging.h>
 #include <Eigen/Dense>
 #include <tf2/LinearMath/Quaternion.h>
 #include <rclcpp/rclcpp.hpp>
@@ -28,6 +27,64 @@
 #include "magic_enum/magic_enum.hpp"
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
+
+namespace orbbec_camera {
+inline void LogFatal(const char *file, int line, const std::string &message) {
+  std::cerr << "Check failed at " << file << ":" << line << ": " << message << std::endl;
+  std::abort();
+}
+}  // namespace orbbec_camera
+
+// Macros for checking conditions and comparing values
+#define CHECK(condition) \
+  (!(condition) ? LogFatal(__FILE__, __LINE__, "Check failed: " #condition) : (void)0)
+
+template <typename T1, typename T2>
+void CheckOp(const char *expr, const char *file, int line, T1 val1, T2 val2, bool result) {
+  if (!result) {
+    std::ostringstream os;
+    os << "Check failed: " << expr << " (" << val1 << " vs. " << val2 << ")";
+    orbbec_camera::LogFatal(file, line, os.str());
+  }
+}
+
+#define CHECK_OP(opname, op, val1, val2) \
+  CheckOp(#val1 " " #op " " #val2, __FILE__, __LINE__, val1, val2, (val1)op(val2))
+
+#define CHECK_EQ(val1, val2) CHECK_OP(_EQ, ==, val1, val2)
+#define CHECK_NE(val1, val2) CHECK_OP(_NE, !=, val1, val2)
+#define CHECK_LE(val1, val2) CHECK_OP(_LE, <=, val1, val2)
+#define CHECK_LT(val1, val2) CHECK_OP(_LT, <, val1, val2)
+#define CHECK_GE(val1, val2) CHECK_OP(_GE, >=, val1, val2)
+#define CHECK_GT(val1, val2) CHECK_OP(_GT, >, val1, val2)
+
+// Overload for raw pointers
+template <typename T>
+T *CheckNotNull(T *ptr, const char *file, int line) {
+  if (ptr == nullptr) {
+    std::ostringstream os;
+    os << "Null pointer passed to CheckNotNull at " << file << ":" << line;
+    orbbec_camera::LogFatal(file, line, os.str());
+  }
+  return ptr;
+}
+
+// Template for smart pointers like std::shared_ptr, std::unique_ptr
+template <typename T>
+T &CheckNotNull(T &ptr, const char *file, int line) {
+  if (ptr == nullptr) {
+    std::ostringstream os;
+    os << "Null pointer passed to CheckNotNull at " << file << ":" << line;
+    orbbec_camera::LogFatal(file, line, os.str());
+  }
+  return ptr;
+}
+
+#if defined(CHECK_NOTNULL)
+#undef CHECK_NOTNULL
+#endif
+#define CHECK_NOTNULL(val) CheckNotNull(val, __FILE__, __LINE__)
+
 namespace orbbec_camera {
 sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
                                                  OBCameraDistortion distortion, int width);

orbbec_camera/src/ob_camera_node_driver.cpp

@@ -22,6 +22,8 @@
 #include <rclcpp_components/register_node_macro.hpp>
 #include <csignal>
 #include <sys/mman.h>
+#include <unistd.h>
+
 
 namespace orbbec_camera {
 OBCameraNodeDriver::OBCameraNodeDriver(const rclcpp::NodeOptions &node_options)

orbbec_camera/src/rk_mpp_decoder.cpp

@@ -16,7 +16,6 @@
 
 #include "orbbec_camera/rk_mpp_decoder.h"
 #include <rclcpp/rclcpp.hpp>
-#include <glog/logging.h>
 #include <magic_enum/magic_enum.hpp>
 
 namespace orbbec_camera {