feat(localization_error_monitor): componentize LocalizationErrorMonit…

…or (#7102) * remove unusing main func file Signed-off-by: a-maumau <[email protected]> * add and mod to use glog Signed-off-by: a-maumau <[email protected]> * change name to localization_error_monitor Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix * rm dependencies Signed-off-by: a-maumau <[email protected]> * change log output from screen to both Signed-off-by: a-maumau <[email protected]> --------- Signed-off-by: a-maumau <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · May 24, 2024 · 11f010a · 11f010a
1 parent 2ac6116
commit 11f010a
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Showing 6 changed files with 21 additions and 43 deletions.
diff --git a/localization/localization_error_monitor/CMakeLists.txt b/localization/localization_error_monitor/CMakeLists.txt
@@ -4,33 +4,34 @@ project(localization_error_monitor)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(localization_error_monitor_module SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/diagnostics.cpp
+  src/localization_error_monitor.cpp
 )
 
-ament_auto_add_executable(localization_error_monitor
-  src/main.cpp
-  src/node.cpp
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "LocalizationErrorMonitor"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
 )
-target_link_libraries(localization_error_monitor localization_error_monitor_module)
 
 if(BUILD_TESTING)
   function(add_testcase filepath)
     get_filename_component(filename ${filepath} NAME)
     string(REGEX REPLACE ".cpp" "" test_name ${filename})
     ament_add_gtest(${test_name} ${filepath})
     target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
-    target_link_libraries(${test_name} localization_error_monitor_module)
+    target_link_libraries(${test_name} ${PROJECT_NAME})
     ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS})
   endfunction()
 
-
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
   add_testcase(test/test_diagnostics.cpp)
 endif()
 
-ament_auto_package(INSTALL_TO_SHARE
+ament_auto_package(
+  INSTALL_TO_SHARE
   config
   launch
 )
diff --git a/...clude/localization_error_monitor/node.hpp → ...or_monitor/localization_error_monitor.hpp b/...clude/localization_error_monitor/node.hpp → ...or_monitor/localization_error_monitor.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LOCALIZATION_ERROR_MONITOR__NODE_HPP_
-#define LOCALIZATION_ERROR_MONITOR__NODE_HPP_
+#ifndef LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_
+#define LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_
 
 #include <Eigen/Dense>
 #include <rclcpp/rclcpp.hpp>
@@ -58,7 +58,7 @@ class LocalizationErrorMonitor : public rclcpp::Node
   double measureSizeEllipseAlongBodyFrame(const Eigen::Matrix2d & Pinv, double theta);
 
 public:
-  LocalizationErrorMonitor();
+  explicit LocalizationErrorMonitor(const rclcpp::NodeOptions & options);
   ~LocalizationErrorMonitor() = default;
 };
-#endif  // LOCALIZATION_ERROR_MONITOR__NODE_HPP_
+#endif  // LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_
diff --git a/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml b/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml
@@ -2,7 +2,7 @@
   <arg name="input/odom" default="/localization/kinematic_state"/>
   <arg name="param_file" default="$(find-pkg-share localization_error_monitor)/config/localization_error_monitor.param.yaml"/>
 
-  <node name="localization_error_monitor" exec="localization_error_monitor" pkg="localization_error_monitor" output="screen">
+  <node pkg="localization_error_monitor" exec="localization_error_monitor_node" output="both">
     <remap from="input/odom" to="$(var input/odom)"/>
     <param from="$(var param_file)"/>
   </node>

diff --git a/localization/localization_error_monitor/package.xml b/localization/localization_error_monitor/package.xml
@@ -23,6 +23,7 @@
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>nav_msgs</depend>
+  <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tier4_autoware_utils</depend>

diff --git a/...n/localization_error_monitor/src/node.cpp → ...onitor/src/localization_error_monitor.cpp b/...n/localization_error_monitor/src/node.cpp → ...onitor/src/localization_error_monitor.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "localization_error_monitor/node.hpp"
+#include "localization_error_monitor/localization_error_monitor.hpp"
 
 #include "localization_error_monitor/diagnostics.hpp"
 
@@ -32,7 +32,8 @@
 #include <string>
 #include <utility>
 
-LocalizationErrorMonitor::LocalizationErrorMonitor() : Node("localization_error_monitor")
+LocalizationErrorMonitor::LocalizationErrorMonitor(const rclcpp::NodeOptions & options)
+: Node("localization_error_monitor", options)
 {
   scale_ = this->declare_parameter<double>("scale");
   error_ellipse_size_ = this->declare_parameter<double>("error_ellipse_size");
@@ -143,3 +144,6 @@ double LocalizationErrorMonitor::measureSizeEllipseAlongBodyFrame(
   double d = std::sqrt((e.transpose() * Pinv * e)(0, 0) / Pinv.determinant());
   return d;
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(LocalizationErrorMonitor)
diff --git a/localization/localization_error_monitor/src/main.cpp b/localization/localization_error_monitor/src/main.cpp