From 8281d7f0d829b8c57fe5e7d022e5bb1ecdd69261 Mon Sep 17 00:00:00 2001
From: Masaki Baba <maumaumaumaumaumaumaumaumaumau@gmail.com>
Date: Fri, 24 May 2024 09:21:49 +0900
Subject: [PATCH] feat(stop_filter): componentize StopFilter (#7099)

* remove unused main func file

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* add and mod to use glog

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* rm dependencies

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* change log output from screen to both

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

---------

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
---
 localization/stop_filter/CMakeLists.txt       | 10 +++++--
 .../include/stop_filter/stop_filter.hpp       |  2 +-
 .../stop_filter/launch/stop_filter.launch.xml |  2 +-
 localization/stop_filter/package.xml          |  1 +
 localization/stop_filter/src/stop_filter.cpp  |  7 +++--
 .../stop_filter/src/stop_filter_node.cpp      | 28 -------------------
 6 files changed, 15 insertions(+), 35 deletions(-)
 delete mode 100644 localization/stop_filter/src/stop_filter_node.cpp

diff --git a/localization/stop_filter/CMakeLists.txt b/localization/stop_filter/CMakeLists.txt
index 97a0443195ae5..4776a1f4967b2 100644
--- 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
index 3c2b91590234f..24145a7920d91 100644
--- 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
index 0ea92d26c9677..c53b37efc9954 100644
--- 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
index 83eaf1b9fa821..2e6d5c4f8bbe1 100644
--- 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
index ac0960b8cb67b..4d6b2c6240867 100644
--- 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
deleted file mode 100644
index 9748214828de2..0000000000000
--- a/localization/stop_filter/src/stop_filter_node.cpp
+++ /dev/null
@@ -1,28 +0,0 @@
-// Copyright 2021 TierIV
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "stop_filter/stop_filter.hpp"
-
-#include <memory>
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  rclcpp::NodeOptions node_options;
-  auto node = std::make_shared<StopFilter>("stop_filter", node_options);
-
-  rclcpp::spin(node);
-
-  return 0;
-}