feat(vehicle_velocity_converter): componentize VehicleVelocityConvert…

…er (#7116) * remove unusing main func file Signed-off-by: a-maumau <[email protected]> * mod to componentize and use glog 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: Yamato Ando <[email protected]>
autowarefoundation · Jun 6, 2024 · 5006a4d · 5006a4d
1 parent d1400b4
commit 5006a4d
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Showing 6 changed files with 15 additions and 31 deletions.
diff --git a/sensing/vehicle_velocity_converter/CMakeLists.txt b/sensing/vehicle_velocity_converter/CMakeLists.txt
@@ -4,11 +4,15 @@ project(vehicle_velocity_converter)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(vehicle_velocity_converter
-  src/vehicle_velocity_converter_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/vehicle_velocity_converter.cpp
 )
-ament_target_dependencies(vehicle_velocity_converter)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "VehicleVelocityConverter"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
+)
 
 ament_auto_package(
   INSTALL_TO_SHARE

diff --git a/...icle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp b/...icle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp
@@ -28,7 +28,7 @@
 class VehicleVelocityConverter : public rclcpp::Node
 {
 public:
-  VehicleVelocityConverter();
+  explicit VehicleVelocityConverter(const rclcpp::NodeOptions & options);
   ~VehicleVelocityConverter() = default;
 
 private:

diff --git a/sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml b/sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml
@@ -3,7 +3,7 @@
   <arg name="output_twist_with_covariance" default="twist_with_covariance"/>
   <arg name="config_file" default="$(find-pkg-share vehicle_velocity_converter)/config/vehicle_velocity_converter.param.yaml"/>
 
-  <node pkg="vehicle_velocity_converter" exec="vehicle_velocity_converter" name="vehicle_velocity_converter_node" output="screen">
+  <node pkg="vehicle_velocity_converter" exec="vehicle_velocity_converter_node" output="both">
     <param from="$(var config_file)"/>
     <remap from="velocity_status" to="$(var input_vehicle_velocity_topic)"/>
     <remap from="twist_with_covariance" to="$(var output_twist_with_covariance)"/>

diff --git a/sensing/vehicle_velocity_converter/package.xml b/sensing/vehicle_velocity_converter/package.xml
@@ -13,6 +13,7 @@
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 

diff --git a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp b/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
@@ -14,7 +14,8 @@
 
 #include "vehicle_velocity_converter/vehicle_velocity_converter.hpp"
 
-VehicleVelocityConverter::VehicleVelocityConverter() : Node("vehicle_velocity_converter")
+VehicleVelocityConverter::VehicleVelocityConverter(const rclcpp::NodeOptions & options)
+: rclcpp::Node("vehicle_velocity_converter", options)
 {
   // set covariance value for twist with covariance msg
   stddev_vx_ = declare_parameter<double>("velocity_stddev_xx");
@@ -52,3 +53,6 @@ void VehicleVelocityConverter::callbackVelocityReport(
 
   twist_with_covariance_pub_->publish(twist_with_covariance_msg);
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(VehicleVelocityConverter)
diff --git a/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter_node.cpp b/sensing/vehicle_velocity_converter/src/vehicle_velocity_converter_node.cpp