1 安装

$sudo apt-get install libgoogle-glog-dev

2 使用

//将信息输出到单独的文件和 LOG(ERROR)
#include <glog/logging.h> //头文件 void SignalHandle(const char* data, int size)
{std::ofstream fs("/home/moi/.navigation_log",std::ios::app|std::ios::out);std::string str = std::string(data,size);LOG(INFO) << str;fs<<str;fs.close();
}int main(int argc, char** argv){
{
google::InitGoogleLogging(argv[0]);
//使用glog严重错误DUMP功能
google::InstallFailureSignalHandler();
google::InstallFailureWriter(&SignalHandle);
FLAGS_logbufsecs = 0;  //日志实时输出       
FLAGS_max_log_size=10; //最大日志文件大小 10M
FLAGS_logtostderr = false; // 设置日志消息是否转到标准输出而不是日志文件
FLAGS_stop_logging_if_full_disk = true; // 设置是否在磁盘已满时避免日志记录到磁盘
FLAGS_colorlogtostderr = true; // 设置记录到标准输出的颜色消息（如果终端支持）
FLAGS_alsologtostderr = true; // 设置日志消息除了日志文件之外是否需要标准输出 
//写日志的目录必须判断存在否则写入不进去日志
if (access ( "/home/user/logdir/",0) == -1)
{std::string fp = "mkdir -p ";fp = fp + "/home/user/logdir/";system(fp.c_str());
} 
google::SetLogDestination(google::INFO, "/home/user/logdir/log");
std::cout << "Glog ON" << std::endl;ros::init(argc, argv, "ros_node");
tf::TransformListener tf(ros::Duration(10));
signal(SIGINT, sigintHandler);LOG(INFO) << "Found " << google::COUNTER <<endl;    
LOG(WARNING) << "warning test";    // 会输出一个Warning日志    
LOG(ERROR) << "error test";        // 会输出一个Error日志 ros::spin();
//结束的时候需要关闭
google::ShutdownGoogleLogging();
return 0;
}

３编译

3.1 将　FindGlog.cmake 放到工程目录cmake下面

# Ceres Solver - A fast non-linear least squares minimizer
# Copyright 2015 Google Inc. All rights reserved.
# http://ceres-solver.org/
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright notice,
#   this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice,
#   this list of conditions and the following disclaimer in the documentation
#   and/or other materials provided with the distribution.
# * Neither the name of Google Inc. nor the names of its contributors may be
#   used to endorse or promote products derived from this software without
#   specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Author: alexs.mac@gmail.com (Alex Stewart)
## FindGlog.cmake - Find Google glog logging library.
#
# This module defines the following variables:
#
# GLOG_FOUND: TRUE if glog is found.
# GLOG_INCLUDE_DIRS: Include directories for glog.
# GLOG_LIBRARIES: Libraries required to link glog.
# FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION: True iff the version of glog found
#                                           was built & installed / exported
#                                           as a CMake package.
#
# The following variables control the behaviour of this module:
#
# GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then
#                           then prefer using an exported CMake configuration
#                           generated by glog > 0.3.4 over searching for the
#                           glog components manually.  Otherwise (FALSE)
#                           ignore any exported glog CMake configurations and
#                           always perform a manual search for the components.
#                           Default: TRUE iff user does not define this variable
#                           before we are called, and does NOT specify either
#                           GLOG_INCLUDE_DIR_HINTS or GLOG_LIBRARY_DIR_HINTS
#                           otherwise FALSE.
# GLOG_INCLUDE_DIR_HINTS: List of additional directories in which to
#                         search for glog includes, e.g: /timbuktu/include.
# GLOG_LIBRARY_DIR_HINTS: List of additional directories in which to
#                         search for glog libraries, e.g: /timbuktu/lib.
#
# The following variables are also defined by this module, but in line with
# CMake recommended FindPackage() module style should NOT be referenced directly
# by callers (use the plural variables detailed above instead).  These variables
# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
# are NOT re-called (i.e. search for library is not repeated) if these variables
# are set with valid values _in the CMake cache_. This means that if these
# variables are set directly in the cache, either by the user in the CMake GUI,
# or by the user passing -DVAR=VALUE directives to CMake when called (which
# explicitly defines a cache variable), then they will be used verbatim,
# bypassing the HINTS variables and other hard-coded search locations.
#
# GLOG_INCLUDE_DIR: Include directory for glog, not including the
#                   include directory of any dependencies.
# GLOG_LIBRARY: glog library, not including the libraries of any
#               dependencies.# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
# FindGlog was invoked.
macro(GLOG_RESET_FIND_LIBRARY_PREFIX)if (MSVC AND CALLERS_CMAKE_FIND_LIBRARY_PREFIXES)set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")endif()
endmacro(GLOG_RESET_FIND_LIBRARY_PREFIX)# Called if we failed to find glog or any of it's required dependencies,
# unsets all public (designed to be used externally) variables and reports
# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
macro(GLOG_REPORT_NOT_FOUND REASON_MSG)unset(GLOG_FOUND)unset(GLOG_INCLUDE_DIRS)unset(GLOG_LIBRARIES)# Make results of search visible in the CMake GUI if glog has not# been found so that user does not have to toggle to advanced view.mark_as_advanced(CLEAR GLOG_INCLUDE_DIRGLOG_LIBRARY)glog_reset_find_library_prefix()# Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()# use the camelcase library name, not uppercase.if (Glog_FIND_QUIETLY)message(STATUS "Failed to find glog - " ${REASON_MSG} ${ARGN})elseif (Glog_FIND_REQUIRED)message(FATAL_ERROR "Failed to find glog - " ${REASON_MSG} ${ARGN})else()# Neither QUIETLY nor REQUIRED, use no priority which emits a message# but continues configuration and allows generation.message("-- Failed to find glog - " ${REASON_MSG} ${ARGN})endif ()return()
endmacro(GLOG_REPORT_NOT_FOUND)# Protect against any alternative find_package scripts for this library having
# been called previously (in a client project) which set GLOG_FOUND, but not
# the other variables we require / set here which could cause the search logic
# here to fail.
unset(GLOG_FOUND)# -----------------------------------------------------------------
# By default, if the user has expressed no preference for using an exported
# glog CMake configuration over performing a search for the installed
# components, and has not specified any hints for the search locations, then
# prefer a glog exported configuration if available.
if (NOT DEFINED GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATIONAND NOT GLOG_INCLUDE_DIR_HINTSAND NOT GLOG_LIBRARY_DIR_HINTS)message(STATUS "No preference for use of exported glog CMake configuration ""set, and no hints for include/library directories provided. ""Defaulting to preferring an installed/exported glog CMake configuration ""if available.")set(GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION TRUE)
endif()if (GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION)# Try to find an exported CMake configuration for glog, as generated by# glog versions > 0.3.4## We search twice, s/t we can invert the ordering of precedence used by# find_package() for exported package build directories, and installed# packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)# respectively in [1].## By default, exported build directories are (in theory) detected first, and# this is usually the case on Windows.  However, on OS X & Linux, the install# path (/usr/local) is typically present in the PATH environment variable# which is checked in item 4) in [1] (i.e. before both of the above, unless# NO_SYSTEM_ENVIRONMENT_PATH is passed).  As such on those OSs installed# packages are usually detected in preference to exported package build# directories.## To ensure a more consistent response across all OSs, and as users usually# want to prefer an installed version of a package over a locally built one# where both exist (esp. as the exported build directory might be removed# after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which# means any build directories exported by the user are ignored, and thus# installed directories are preferred.  If this fails to find the package# we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any# exported build directories will now be detected.## To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which# is item 5) in [1]), to not preferentially use projects that were built# recently with the CMake GUI to ensure that we always prefer an installed# version if available.## [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_packagefind_package(glog QUIETNO_MODULENO_CMAKE_PACKAGE_REGISTRYNO_CMAKE_BUILDS_PATH)if (glog_FOUND)message(STATUS "Found installed version of glog: ${glog_DIR}")else()# Failed to find an installed version of glog, repeat search allowing# exported build directories.message(STATUS "Failed to find installed glog CMake configuration, ""searching for glog build directories exported with CMake.")# Again pass NO_CMAKE_BUILDS_PATH, as we know that glog is exported and# do not want to treat projects built with the CMake GUI preferentially.find_package(glog QUIETNO_MODULENO_CMAKE_BUILDS_PATH)if (glog_FOUND)message(STATUS "Found exported glog build directory: ${glog_DIR}")endif(glog_FOUND)endif(glog_FOUND)set(FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION ${glog_FOUND})if (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)message(STATUS "Detected glog version: ${glog_VERSION}")set(GLOG_FOUND ${glog_FOUND})# glog wraps the include directories into the exported glog::glog target.set(GLOG_INCLUDE_DIR "")set(GLOG_LIBRARY glog::glog)else (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)message(STATUS "Failed to find an installed/exported CMake configuration ""for glog, will perform search for installed glog components.")endif (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
endif(GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION)if (NOT GLOG_FOUND)# Either failed to find an exported glog CMake configuration, or user# told us not to use one.  Perform a manual search for all glog components.# Handle possible presence of lib prefix for libraries on MSVC, see# also GLOG_RESET_FIND_LIBRARY_PREFIX().if (MSVC)# Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES# s/t we can set it back before returning.set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")# The empty string in this list is important, it represents the case when# the libraries have no prefix (shared libraries / DLLs).set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")endif (MSVC)# Search user-installed locations first, so that we prefer user installs# to system installs where both exist.list(APPEND GLOG_CHECK_INCLUDE_DIRS/usr/local/include/usr/local/homebrew/include # Mac OS X/opt/local/var/macports/software # Mac OS X./opt/local/include/usr/include)# Windows (for C:/Program Files prefix).list(APPEND GLOG_CHECK_PATH_SUFFIXESglog/includeglog/IncludeGlog/includeGlog/Include)list(APPEND GLOG_CHECK_LIBRARY_DIRS/usr/local/lib/usr/local/homebrew/lib # Mac OS X./opt/local/lib/usr/lib)# Windows (for C:/Program Files prefix).list(APPEND GLOG_CHECK_LIBRARY_SUFFIXESglog/libglog/LibGlog/libGlog/Lib)# Search supplied hint directories first if supplied.find_path(GLOG_INCLUDE_DIRNAMES glog/logging.hPATHS ${GLOG_INCLUDE_DIR_HINTS}${GLOG_CHECK_INCLUDE_DIRS}PATH_SUFFIXES ${GLOG_CHECK_PATH_SUFFIXES})if (NOT GLOG_INCLUDE_DIR ORNOT EXISTS ${GLOG_INCLUDE_DIR})glog_report_not_found("Could not find glog include directory, set GLOG_INCLUDE_DIR ""to directory containing glog/logging.h")endif (NOT GLOG_INCLUDE_DIR ORNOT EXISTS ${GLOG_INCLUDE_DIR})find_library(GLOG_LIBRARY NAMES glogPATHS ${GLOG_LIBRARY_DIR_HINTS}${GLOG_CHECK_LIBRARY_DIRS}PATH_SUFFIXES ${GLOG_CHECK_LIBRARY_SUFFIXES})if (NOT GLOG_LIBRARY ORNOT EXISTS ${GLOG_LIBRARY})glog_report_not_found("Could not find glog library, set GLOG_LIBRARY ""to full path to libglog.")endif (NOT GLOG_LIBRARY ORNOT EXISTS ${GLOG_LIBRARY})# Mark internally as found, then verify. GLOG_REPORT_NOT_FOUND() unsets# if called.set(GLOG_FOUND TRUE)# Glog does not seem to provide any record of the version in its# source tree, thus cannot extract version.# Catch case when caller has set GLOG_INCLUDE_DIR in the cache / GUI and# thus FIND_[PATH/LIBRARY] are not called, but specified locations are# invalid, otherwise we would report the library as found.if (GLOG_INCLUDE_DIR ANDNOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)glog_report_not_found("Caller defined GLOG_INCLUDE_DIR:"" ${GLOG_INCLUDE_DIR} does not contain glog/logging.h header.")endif (GLOG_INCLUDE_DIR ANDNOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)# TODO: This regex for glog library is pretty primitive, we use lowercase#       for comparison to handle Windows using CamelCase library names, could#       this check be better?string(TOLOWER "${GLOG_LIBRARY}" LOWERCASE_GLOG_LIBRARY)if (GLOG_LIBRARY ANDNOT "${LOWERCASE_GLOG_LIBRARY}" MATCHES ".*glog[^/]*")glog_report_not_found("Caller defined GLOG_LIBRARY: ""${GLOG_LIBRARY} does not match glog.")endif (GLOG_LIBRARY ANDNOT "${LOWERCASE_GLOG_LIBRARY}" MATCHES ".*glog[^/]*")glog_reset_find_library_prefix()endif(NOT GLOG_FOUND)# Set standard CMake FindPackage variables if found.
if (GLOG_FOUND)set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})set(GLOG_LIBRARIES ${GLOG_LIBRARY})
endif (GLOG_FOUND)# If we are using an exported CMake glog target, the include directories are
# wrapped into the target itself, and do not have to be (and are not)
# separately specified.  In which case, we should not add GLOG_INCLUDE_DIRS
# to the list of required variables in order that glog be reported as found.
if (FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)set(GLOG_REQUIRED_VARIABLES GLOG_LIBRARIES)
else()set(GLOG_REQUIRED_VARIABLES GLOG_INCLUDE_DIRS GLOG_LIBRARIES)
endif()# Handle REQUIRED / QUIET optional arguments.
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(Glog DEFAULT_MSG${GLOG_REQUIRED_VARIABLES})# Only mark internal variables as advanced if we found glog, otherwise
# leave them visible in the standard GUI for the user to set manually.
if (GLOG_FOUND)mark_as_advanced(FORCE GLOG_INCLUDE_DIRGLOG_LIBRARYglog_DIR) # Autogenerated by find_package(glog)
endif (GLOG_FOUND)

2 Cmakelist 更新

list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
set(USE_STACK_TRACE_LOGGER ON CACHE BOOL "Enable automatic stack trace logger of google-glog")
set(USE_STACK_TRACE_LOGGER ON)
if (USE_STACK_TRACE_LOGGER)message(STATUS "Stack trace logger: ENABLED")# Glogfind_package(Glog REQUIRED)include_directories(${GLOG_INCLUDE_DIR})add_definitions(-D USE_STACK_TRACE_LOGGER)message(STATUS "GLOG_INCLUDE_DIR: ${GLOG_INCLUDE_DIR}")message(STATUS "GLOG_LIBRARIES: ${GLOG_LIBRARIES}")
else ()message(STATUS "Stack trace logger: DISABLED")
endif ()这里头文件和　linke 需要添加好include_directories(include${catkin_INCLUDE_DIRS}${GLOG_INCLUDE_DIR}
)target_link_libraries(disinfection_base${Boost_LIBRARIES}${catkin_LIBRARIES}${GLOG_LIBRARIES})