feat(dummy_diag_publisher): componentize node (autowarefoundation#7190)

Signed-off-by: Takagi, Isamu <[email protected]>
Interplai · Jun 3, 2024 · 0850eb4 · 0850eb4
1 parent 65c6a36
commit 0850eb4
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Showing 5 changed files with 19 additions and 36 deletions.
diff --git a/system/dummy_diag_publisher/CMakeLists.txt b/system/dummy_diag_publisher/CMakeLists.txt
@@ -4,11 +4,15 @@ project(dummy_diag_publisher)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(${PROJECT_NAME}
-  src/dummy_diag_publisher_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/dummy_diag_publisher_core.cpp
 )
 
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "DummyDiagPublisher"
+  EXECUTABLE ${PROJECT_NAME}_node
+)
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
   config

diff --git a/system/dummy_diag_publisher/include/dummy_diag_publisher/dummy_diag_publisher_core.hpp b/system/dummy_diag_publisher/include/dummy_diag_publisher/dummy_diag_publisher_core.hpp
@@ -35,7 +35,7 @@ struct DiagConfig
 class DummyDiagPublisher : public rclcpp::Node
 {
 public:
-  DummyDiagPublisher();
+  explicit DummyDiagPublisher(const rclcpp::NodeOptions & options);
 
 private:
   enum Status {

diff --git a/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml b/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml
@@ -4,7 +4,7 @@
   <arg name="update_rate" default="10.0"/>
 
   <group>
-    <node pkg="dummy_diag_publisher" exec="dummy_diag_publisher" name="dummy_diag_publisher" output="screen">
+    <node pkg="dummy_diag_publisher" exec="dummy_diag_publisher_node" name="dummy_diag_publisher" output="screen">
       <param from="$(var config_file)"/>
       <param from="$(var extra_config_file_sensor)"/>
       <param name="update_rate" value="$(var update_rate)"/>

diff --git a/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp b/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp
@@ -245,12 +245,14 @@ void DummyDiagPublisher::onTimer()
   updater_.force_update();
 }
 
-DummyDiagPublisher::DummyDiagPublisher()
-: Node(
-    "dummy_diag_publisher", rclcpp::NodeOptions()
-                              .allow_undeclared_parameters(true)
-                              .automatically_declare_parameters_from_overrides(true)),
-  updater_(this)
+rclcpp::NodeOptions override_options(rclcpp::NodeOptions options)
+{
+  return options.allow_undeclared_parameters(true).automatically_declare_parameters_from_overrides(
+    true);
+}
+
+DummyDiagPublisher::DummyDiagPublisher(const rclcpp::NodeOptions & options)
+: Node("dummy_diag_publisher", override_options(options)), updater_(this)
 
 {
   // Parameter
@@ -277,3 +279,6 @@ DummyDiagPublisher::DummyDiagPublisher()
   timer_ = rclcpp::create_timer(
     this, get_clock(), period_ns, std::bind(&DummyDiagPublisher::onTimer, this));
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(DummyDiagPublisher)
diff --git a/system/dummy_diag_publisher/src/dummy_diag_publisher_node.cpp b/system/dummy_diag_publisher/src/dummy_diag_publisher_node.cpp