feat(ar_tag_based_localizer): componentize ArTagBasedLocalizer (autow…

…arefoundation#7187) * remove unusing main func Signed-off-by: a-maumau <[email protected]> * mod to componentize and use glog Signed-off-by: a-maumau <[email protected]> * change exec name and change log output from log to both Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: a-maumau <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Interplai · Jun 3, 2024 · b182577 · b182577
1 parent 8510a7f
commit b182577
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Showing 5 changed files with 19 additions and 62 deletions.
diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/CMakeLists.txt b/localization/landmark_based_localizer/ar_tag_based_localizer/CMakeLists.txt
@@ -14,27 +14,33 @@ ament_auto_find_build_dependencies()
 
 find_package(OpenCV REQUIRED)
 
-ament_auto_add_executable(ar_tag_based_localizer
-  src/main.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/ar_tag_based_localizer.cpp
 )
-target_include_directories(ar_tag_based_localizer
+
+target_include_directories(${PROJECT_NAME}
   SYSTEM PUBLIC
   ${OpenCV_INCLUDE_DIRS}
 )
-target_link_libraries(ar_tag_based_localizer ${OpenCV_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "ArTagBasedLocalizer"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
+)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
-  ament_auto_add_gtest(test_ar_tag_based_localizer
+  ament_auto_add_gtest(test_${PROJECT_NAME}
     test/test.cpp
     src/ar_tag_based_localizer.cpp
   )
-  target_include_directories(test_ar_tag_based_localizer
+  target_include_directories(test_${PROJECT_NAME}
     SYSTEM PUBLIC
     ${OpenCV_INCLUDE_DIRS}
   )
-  target_link_libraries(test_ar_tag_based_localizer ${OpenCV_LIBRARIES})
+  target_link_libraries(test_${PROJECT_NAME}  ${OpenCV_LIBRARIES})
 endif()
 
 ament_auto_package(

diff --git a/.../landmark_based_localizer/ar_tag_based_localizer/launch/ar_tag_based_localizer.launch.xml b/.../landmark_based_localizer/ar_tag_based_localizer/launch/ar_tag_based_localizer.launch.xml
@@ -14,7 +14,7 @@
   <arg name="debug_mapped_tag" default="~/debug/mapped_tag"/>
   <arg name="debug_detected_tag" default="~/debug/detected_tag"/>
 
-  <node pkg="ar_tag_based_localizer" exec="ar_tag_based_localizer" name="$(var node_name)" output="log">
+  <node pkg="ar_tag_based_localizer" exec="ar_tag_based_localizer_node" name="$(var node_name)" output="both">
     <remap from="~/input/lanelet2_map" to="$(var input_lanelet2_map)"/>
     <remap from="~/input/image" to="$(var input_image)"/>
     <remap from="~/input/camera_info" to="$(var input_camera_info)"/>

diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml
@@ -24,6 +24,7 @@
   <depend>lanelet2_extension</depend>
   <depend>localization_util</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>

diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
@@ -65,7 +65,7 @@
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 
 ArTagBasedLocalizer::ArTagBasedLocalizer(const rclcpp::NodeOptions & options)
-: Node("ar_tag_based_localizer", options), cam_info_received_(false)
+: rclcpp::Node("ar_tag_based_localizer", options), cam_info_received_(false)
 {
   /*
     Declare node parameters
@@ -346,3 +346,6 @@ std::vector<landmark_manager::Landmark> ArTagBasedLocalizer::detect_landmarks(
 
   return landmarks;
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(ArTagBasedLocalizer)
diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/main.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/main.cpp