feat(diagnostic_graph_utils): componentize node (autowarefoundation#7189

) Signed-off-by: Takagi, Isamu <[email protected]>
Interplai · Jun 3, 2024 · 65c6a36 · 65c6a36
1 parent 116e460
commit 65c6a36
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Showing 8 changed files with 23 additions and 33 deletions.
diff --git a/system/diagnostic_graph_utils/CMakeLists.txt b/system/diagnostic_graph_utils/CMakeLists.txt
@@ -9,12 +9,19 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/lib/subscription.cpp
 )
 
-ament_auto_add_executable(dump
+ament_auto_add_library(${PROJECT_NAME}_tools SHARED
   src/node/dump.cpp
+  src/node/converter.cpp
 )
 
-ament_auto_add_executable(converter
-  src/node/converter.cpp
+rclcpp_components_register_node(${PROJECT_NAME}_tools
+  PLUGIN "diagnostic_graph_utils::DumpNode"
+  EXECUTABLE dump_node
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}_tools
+  PLUGIN "diagnostic_graph_utils::ConverterNode"
+  EXECUTABLE converter_node
 )
 
 ament_auto_package()
diff --git a/system/diagnostic_graph_utils/doc/node/converter.md b/system/diagnostic_graph_utils/doc/node/converter.md
@@ -5,7 +5,7 @@ This tool converts `/diagnostics_graph` to `/diagnostics_array` so it can be rea
 ## Usage
 
 ```bash
-ros2 run diagnostic_graph_utils converter
+ros2 run diagnostic_graph_utils converter_node
 ```
 
 ## Examples
@@ -19,7 +19,7 @@ ros2 launch diagnostic_graph_aggregator example-main.launch.xml
 Terminal 2:
 
 ```bash
-ros2 run diagnostic_graph_utils converter
+ros2 run diagnostic_graph_utils converter_node
 ```
 
 Terminal 3:

diff --git a/system/diagnostic_graph_utils/doc/node/dump.md b/system/diagnostic_graph_utils/doc/node/dump.md
@@ -5,7 +5,7 @@ This tool displays `/diagnostics_graph` in table format.
 ## Usage
 
 ```bash
-ros2 run diagnostic_graph_utils dump
+ros2 run diagnostic_graph_utils dump_node
 ```
 
 ## Examples
@@ -19,7 +19,7 @@ ros2 launch diagnostic_graph_aggregator example-main.launch.xml
 Terminal 2:
 
 ```bash
-ros2 run diagnostic_graph_utils dump
+ros2 run diagnostic_graph_utils dump_node
 ```
 
 Output:

diff --git a/system/diagnostic_graph_utils/package.xml b/system/diagnostic_graph_utils/package.xml
@@ -12,6 +12,7 @@
 
   <depend>diagnostic_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>tier4_system_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/system/diagnostic_graph_utils/src/node/converter.cpp b/system/diagnostic_graph_utils/src/node/converter.cpp
@@ -19,7 +19,7 @@
 namespace diagnostic_graph_utils
 {
 
-ConverterNode::ConverterNode() : Node("converter")
+ConverterNode::ConverterNode(const rclcpp::NodeOptions & options) : Node("converter", options)
 {
   using std::placeholders::_1;
   pub_array_ = create_publisher<DiagnosticArray>("/diagnostics_array", rclcpp::QoS(1));
@@ -40,14 +40,5 @@ void ConverterNode::on_update(DiagGraph::ConstSharedPtr graph)
 
 }  // namespace diagnostic_graph_utils
 
-int main(int argc, char ** argv)
-{
-  using diagnostic_graph_utils::ConverterNode;
-  rclcpp::init(argc, argv);
-  rclcpp::executors::SingleThreadedExecutor executor;
-  auto node = std::make_shared<ConverterNode>();
-  executor.add_node(node);
-  executor.spin();
-  executor.remove_node(node);
-  rclcpp::shutdown();
-}
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(diagnostic_graph_utils::ConverterNode)
diff --git a/system/diagnostic_graph_utils/src/node/converter.hpp b/system/diagnostic_graph_utils/src/node/converter.hpp
@@ -28,7 +28,7 @@ namespace diagnostic_graph_utils
 class ConverterNode : public rclcpp::Node
 {
 public:
-  ConverterNode();
+  explicit ConverterNode(const rclcpp::NodeOptions & options);
 
 private:
   using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray;

diff --git a/system/diagnostic_graph_utils/src/node/dump.cpp b/system/diagnostic_graph_utils/src/node/dump.cpp
@@ -24,7 +24,7 @@
 namespace diagnostic_graph_utils
 {
 
-DumpNode::DumpNode() : Node("dump")
+DumpNode::DumpNode(const rclcpp::NodeOptions & options) : Node("dump", options)
 {
   using std::placeholders::_1;
   sub_graph_.register_create_callback(std::bind(&DumpNode::on_create, this, _1));
@@ -132,14 +132,5 @@ void DumpNode::on_update(DiagGraph::ConstSharedPtr graph)
 
 }  // namespace diagnostic_graph_utils
 
-int main(int argc, char ** argv)
-{
-  using diagnostic_graph_utils::DumpNode;
-  rclcpp::init(argc, argv);
-  rclcpp::executors::SingleThreadedExecutor executor;
-  auto node = std::make_shared<DumpNode>();
-  executor.add_node(node);
-  executor.spin();
-  executor.remove_node(node);
-  rclcpp::shutdown();
-}
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(diagnostic_graph_utils::DumpNode)
diff --git a/system/diagnostic_graph_utils/src/node/dump.hpp b/system/diagnostic_graph_utils/src/node/dump.hpp
@@ -28,7 +28,7 @@ namespace diagnostic_graph_utils
 class DumpNode : public rclcpp::Node
 {
 public:
-  DumpNode();
+  explicit DumpNode(const rclcpp::NodeOptions & options);
 
 private:
   void on_create(DiagGraph::ConstSharedPtr graph);