feat(localization_error_monitor): componentize EKFLocalizer (#7104)

* 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]> --------- Signed-off-by: a-maumau <[email protected]>
autowarefoundation · May 24, 2024 · 583cd85 · 583cd85
1 parent 11f010a
commit 583cd85
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Showing 6 changed files with 16 additions and 41 deletions.
diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt
@@ -13,7 +13,7 @@ include_directories(
 
 ament_auto_find_build_dependencies()
 
-ament_auto_add_library(ekf_localizer_lib SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/ekf_localizer.cpp
   src/covariance.cpp
   src/diagnostics.cpp
@@ -24,21 +24,20 @@ ament_auto_add_library(ekf_localizer_lib SHARED
   src/ekf_module.cpp
 )
 
-target_link_libraries(ekf_localizer_lib Eigen3::Eigen)
-
-ament_auto_add_executable(ekf_localizer src/ekf_localizer_node.cpp)
-
-target_compile_options(ekf_localizer PUBLIC -g -Wall -Wextra -Wpedantic -Werror)
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "EKFLocalizer"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
+)
 
-target_link_libraries(ekf_localizer ekf_localizer_lib)
-target_include_directories(ekf_localizer PUBLIC include)
+target_link_libraries(${PROJECT_NAME} Eigen3::Eigen)
 
 function(add_testcase filepath)
   get_filename_component(filename ${filepath} NAME)
   string(REGEX REPLACE ".cpp" "" test_name ${filename})
 
   ament_add_gtest(${test_name} ${filepath})
-  target_link_libraries("${test_name}" ekf_localizer_lib)
+  target_link_libraries("${test_name}" ${PROJECT_NAME})
   ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS})
 endfunction()
 

diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp
@@ -102,7 +102,7 @@ class Simple1DFilter
 class EKFLocalizer : public rclcpp::Node
 {
 public:
-  EKFLocalizer(const std::string & node_name, const rclcpp::NodeOptions & options);
+  explicit EKFLocalizer(const rclcpp::NodeOptions & options);
 
 private:
   const std::shared_ptr<Warning> warning_;

diff --git a/localization/ekf_localizer/launch/ekf_localizer.launch.xml b/localization/ekf_localizer/launch/ekf_localizer.launch.xml
@@ -17,7 +17,7 @@
   <arg name="output_twist_name" default="ekf_twist"/>
   <arg name="output_twist_with_covariance_name" default="ekf_twist_with_covariance"/>
 
-  <node pkg="ekf_localizer" exec="ekf_localizer" name="ekf_localizer" output="screen">
+  <node pkg="ekf_localizer" exec="ekf_localizer_node" output="both">
     <remap from="in_pose_with_covariance" to="$(var input_pose_with_cov_name)"/>
 
     <remap from="in_twist_with_covariance" to="$(var input_twist_with_cov_name)"/>

diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml
@@ -29,6 +29,7 @@
   <depend>kalman_filter</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>std_srvs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>

diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp
@@ -40,8 +40,8 @@
 
 using std::placeholders::_1;
 
-EKFLocalizer::EKFLocalizer(const std::string & node_name, const rclcpp::NodeOptions & node_options)
-: rclcpp::Node(node_name, node_options),
+EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options)
+: rclcpp::Node("ekf_localizer", node_options),
   warning_(std::make_shared<Warning>(this)),
   params_(this),
   ekf_dt_(params_.ekf_dt),
@@ -479,3 +479,6 @@ void EKFLocalizer::serviceTriggerNode(
   res->success = true;
   return;
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(EKFLocalizer)
diff --git a/localization/ekf_localizer/src/ekf_localizer_node.cpp b/localization/ekf_localizer/src/ekf_localizer_node.cpp