feat(map_height_fitter): componentize MapHeightFitter (autowarefounda…

…tion#7192) * rename file name and mod to componentize and use glog Signed-off-by: a-maumau <[email protected]> * mod to componentize and use glog Signed-off-by: a-maumau <[email protected]> * change exec name and add log output both Signed-off-by: a-maumau <[email protected]> --------- Signed-off-by: a-maumau <[email protected]>
a-maumau · Jun 7, 2024 · bf07aa3 · bf07aa3
1 parent 02d9d77
commit bf07aa3
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Showing 4 changed files with 14 additions and 16 deletions.
diff --git a/map/map_height_fitter/CMakeLists.txt b/map/map_height_fitter/CMakeLists.txt
@@ -5,20 +5,24 @@ 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})
 
 # When adding `<depend>lanelet2_extension</depend>` to package.xml, many warnings are generated.
 # 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
@@ -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
@@ -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 → ...ght_fitter/src/map_height_fitter_node.cpp b/map/map_height_fitter/src/node.cpp → ...ght_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)