chore(ndt_scan_matcher): replace entrypoint with rclcpp components macro

Signed-off-by: wep21 <[email protected]>
autowarefoundation · Nov 9, 2023 · 38dc47d · 38dc47d
1 parent bff877c
commit 38dc47d
Show file tree

Hide file tree

Showing 5 changed files with 15 additions and 39 deletions.
diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt
@@ -26,16 +26,21 @@ find_package(glog REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common io registration)
 include_directories(${PCL_INCLUDE_DIRS})
 
-ament_auto_add_executable(ndt_scan_matcher
+ament_auto_add_library(ndt_scan_matcher_node SHARED
   src/debug.cpp
-  src/ndt_scan_matcher_node.cpp
   src/ndt_scan_matcher_core.cpp
   src/map_module.cpp
   src/map_update_module.cpp
 )
 
 link_directories(${PCL_LIBRARY_DIRS})
-target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES} glog::glog)
+target_link_libraries(ndt_scan_matcher_node ${PCL_LIBRARIES} glog::glog)
+
+rclcpp_components_register_node(ndt_scan_matcher_node
+  PLUGIN "NDTScanMatcher"
+  EXECUTABLE ndt_scan_matcher
+  EXECUTOR MultiThreadedExecutor
+)
 
 if(BUILD_TESTING)
   add_launch_test(

diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
@@ -77,7 +77,7 @@ class NDTScanMatcher : public rclcpp::Node
     pclomp::MultiGridNormalDistributionsTransform<PointSource, PointTarget>;
 
 public:
-  NDTScanMatcher();
+  explicit NDTScanMatcher(const rclcpp::NodeOptions & node_options);
 
 private:
   void service_ndt_align(

diff --git a/localization/ndt_scan_matcher/package.xml b/localization/ndt_scan_matcher/package.xml
@@ -25,6 +25,7 @@
   <depend>ndt_omp</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>

diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
@@ -108,8 +108,8 @@ bool validate_local_optimal_solution_oscillation(
 }
 
 // cspell: ignore degrounded
-NDTScanMatcher::NDTScanMatcher()
-: Node("ndt_scan_matcher"),
+NDTScanMatcher::NDTScanMatcher(const rclcpp::NodeOptions & node_options)
+: Node("ndt_scan_matcher", node_options),
   tf2_broadcaster_(*this),
   ndt_ptr_(new NormalDistributionsTransform),
   state_ptr_(new std::map<std::string, std::string>),
@@ -1009,3 +1009,6 @@ geometry_msgs::msg::PoseWithCovarianceStamped NDTScanMatcher::align_pose(
 
   return result_pose_with_cov_msg;
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(NDTScanMatcher)
diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp