feat(stop_filter): componentize StopFilter (#7099)

* remove unused main func file Signed-off-by: a-maumau <[email protected]> * add and mod to use glog Signed-off-by: a-maumau <[email protected]> * 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]>
autowarefoundation · May 24, 2024 · 8281d7f · 8281d7f
1 parent 4ffa82b
commit 8281d7f
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Showing 6 changed files with 15 additions and 35 deletions.
diff --git a/localization/stop_filter/CMakeLists.txt b/localization/stop_filter/CMakeLists.txt
@@ -4,11 +4,15 @@ project(stop_filter)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(stop_filter
-  src/stop_filter_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/stop_filter.cpp
 )
-ament_target_dependencies(stop_filter)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "StopFilter"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
+)
 
 ament_auto_package(
   INSTALL_TO_SHARE

diff --git a/localization/stop_filter/include/stop_filter/stop_filter.hpp b/localization/stop_filter/include/stop_filter/stop_filter.hpp
@@ -37,7 +37,7 @@
 class StopFilter : public rclcpp::Node
 {
 public:
-  StopFilter(const std::string & node_name, const rclcpp::NodeOptions & options);
+  explicit StopFilter(const rclcpp::NodeOptions & options);
 
 private:
   rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pub_odom_;  //!< @brief odom publisher

diff --git a/localization/stop_filter/launch/stop_filter.launch.xml b/localization/stop_filter/launch/stop_filter.launch.xml
@@ -3,7 +3,7 @@
   <arg name="input_odom_name" default="ekf_odom"/>
   <arg name="output_odom_name" default="stop_filter_odom"/>
   <arg name="debug_stop_flag" default="debug/stop_flag"/>
-  <node pkg="stop_filter" exec="stop_filter" name="stop_filter" output="screen">
+  <node pkg="stop_filter" exec="stop_filter_node" output="both">
     <remap from="input/odom" to="$(var input_odom_name)"/>
 
     <remap from="output/odom" to="$(var output_odom_name)"/>

diff --git a/localization/stop_filter/package.xml b/localization/stop_filter/package.xml
@@ -21,6 +21,7 @@
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tier4_debug_msgs</depend>
 

diff --git a/localization/stop_filter/src/stop_filter.cpp b/localization/stop_filter/src/stop_filter.cpp
@@ -24,8 +24,8 @@
 
 using std::placeholders::_1;
 
-StopFilter::StopFilter(const std::string & node_name, const rclcpp::NodeOptions & node_options)
-: rclcpp::Node(node_name, node_options)
+StopFilter::StopFilter(const rclcpp::NodeOptions & node_options)
+: rclcpp::Node("stop_filter", node_options)
 {
   vx_threshold_ = declare_parameter<double>("vx_threshold");
   wz_threshold_ = declare_parameter<double>("wz_threshold");
@@ -57,3 +57,6 @@ void StopFilter::callbackOdometry(const nav_msgs::msg::Odometry::SharedPtr msg)
   pub_stop_flag_->publish(stop_flag_msg);
   pub_odom_->publish(odom_msg);
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(StopFilter)
diff --git a/localization/stop_filter/src/stop_filter_node.cpp b/localization/stop_filter/src/stop_filter_node.cpp