From 116e46000b7a3e48be8bae15358de0e62a88d7e5 Mon Sep 17 00:00:00 2001
From: Masaki Baba <maumaumaumaumaumaumaumaumaumau@gmail.com>
Date: Fri, 31 May 2024 16:49:42 +0900
Subject: [PATCH] feat(map_height_fitter): componentize MapHeightFitter (#7192)

* rename file name and mod to componentize and use glog

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* mod to componentize and use glog

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* change exec name and add log output both

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

---------

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
---
 map/map_height_fitter/CMakeLists.txt              | 12 ++++++++----
 .../launch/map_height_fitter.launch.xml           |  2 +-
 map/map_height_fitter/package.xml                 |  1 +
 .../src/{node.cpp => map_height_fitter_node.cpp}  | 15 ++++-----------
 4 files changed, 14 insertions(+), 16 deletions(-)
 rename map/map_height_fitter/src/{node.cpp => map_height_fitter_node.cpp} (83%)

diff --git a/map/map_height_fitter/CMakeLists.txt b/map/map_height_fitter/CMakeLists.txt
index 8821158c54757..0dec2f6a1663a 100644
--- a/map/map_height_fitter/CMakeLists.txt
+++ b/map/map_height_fitter/CMakeLists.txt
@@ -5,8 +5,9 @@ find_package(autoware_cmake REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common)
 autoware_package()
 
-ament_auto_add_library(map_height_fitter SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/map_height_fitter.cpp
+  src/map_height_fitter_node.cpp
 )
 target_link_libraries(map_height_fitter ${PCL_LIBRARIES})
 
@@ -14,11 +15,14 @@ target_link_libraries(map_height_fitter ${PCL_LIBRARIES})
 # These are treated as errors in compile, so pedantic warnings are disabled for this package.
 target_compile_options(map_height_fitter PRIVATE -Wno-pedantic)
 
-ament_auto_add_executable(node
-  src/node.cpp
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "MapHeightFitterNode"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR MultiThreadedExecutor
 )
 
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
-  config)
+  config
+)
diff --git a/map/map_height_fitter/launch/map_height_fitter.launch.xml b/map/map_height_fitter/launch/map_height_fitter.launch.xml
index 353f2151ee172..3e01a35a8e519 100644
--- a/map/map_height_fitter/launch/map_height_fitter.launch.xml
+++ b/map/map_height_fitter/launch/map_height_fitter.launch.xml
@@ -3,7 +3,7 @@
 
   <group>
     <push-ros-namespace namespace="map"/>
-    <node pkg="map_height_fitter" exec="node" name="map_height_fitter">
+    <node pkg="map_height_fitter" exec="map_height_fitter_node" output="both">
       <param from="$(var param_path)"/>
       <remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
       <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
diff --git a/map/map_height_fitter/package.xml b/map/map_height_fitter/package.xml
index 7f384aa43ec7b..568c77f2509c6 100644
--- a/map/map_height_fitter/package.xml
+++ b/map/map_height_fitter/package.xml
@@ -25,6 +25,7 @@
   <depend>libpcl-common</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
diff --git a/map/map_height_fitter/src/node.cpp b/map/map_height_fitter/src/map_height_fitter_node.cpp
similarity index 83%
rename from map/map_height_fitter/src/node.cpp
rename to map/map_height_fitter/src/map_height_fitter_node.cpp
index 55702dc08450d..fdc7604b68855 100644
--- a/map/map_height_fitter/src/node.cpp
+++ b/map/map_height_fitter/src/map_height_fitter_node.cpp
@@ -23,7 +23,8 @@ using tier4_localization_msgs::srv::PoseWithCovarianceStamped;
 class MapHeightFitterNode : public rclcpp::Node
 {
 public:
-  MapHeightFitterNode() : Node("map_height_fitter"), fitter_(this)
+  explicit MapHeightFitterNode(const rclcpp::NodeOptions & options)
+  : rclcpp::Node("map_height_fitter", options), fitter_(this)
   {
     const auto on_service = [this](
                               const PoseWithCovarianceStamped::Request::SharedPtr req,
@@ -46,13 +47,5 @@ class MapHeightFitterNode : public rclcpp::Node
   rclcpp::Service<PoseWithCovarianceStamped>::SharedPtr srv_;
 };
 
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  rclcpp::executors::MultiThreadedExecutor executor;
-  auto node = std::make_shared<MapHeightFitterNode>();
-  executor.add_node(node);
-  executor.spin();
-  executor.remove_node(node);
-  rclcpp::shutdown();
-}
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(MapHeightFitterNode)