feat(pose2twist): componentize Pose2Twist (#7113)

* 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 log to both Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: a-maumau <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · May 24, 2024 · f2ae1af · f2ae1af
1 parent 583cd85
commit f2ae1af
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Showing 6 changed files with 14 additions and 34 deletions.
diff --git a/localization/pose2twist/CMakeLists.txt b/localization/pose2twist/CMakeLists.txt
@@ -4,11 +4,16 @@ project(pose2twist)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(pose2twist
-  src/pose2twist_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/pose2twist_core.cpp
 )
 
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "Pose2Twist"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
+)
+
 ament_auto_package(
   INSTALL_TO_SHARE
   launch

diff --git a/localization/pose2twist/include/pose2twist/pose2twist_core.hpp b/localization/pose2twist/include/pose2twist/pose2twist_core.hpp
@@ -24,7 +24,7 @@
 class Pose2Twist : public rclcpp::Node
 {
 public:
-  Pose2Twist();
+  explicit Pose2Twist(const rclcpp::NodeOptions & options);
   ~Pose2Twist() = default;
 
 private:

diff --git a/localization/pose2twist/launch/pose2twist.launch.xml b/localization/pose2twist/launch/pose2twist.launch.xml
@@ -2,7 +2,7 @@
   <arg name="input_pose_topic" default="/localization/pose_estimator/pose" description=""/>
   <arg name="output_twist_topic" default="/estimate_twist" description=""/>
 
-  <node pkg="pose2twist" exec="pose2twist" name="pose2twist" output="log">
+  <node pkg="pose2twist" exec="pose2twist_node" output="both">
     <remap from="pose" to="$(var input_pose_topic)"/>
     <remap from="twist" to="$(var output_twist_topic)"/>
   </node>

diff --git a/localization/pose2twist/package.xml b/localization/pose2twist/package.xml
@@ -19,6 +19,7 @@
 
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tier4_debug_msgs</depend>
 

diff --git a/localization/pose2twist/src/pose2twist_core.cpp b/localization/pose2twist/src/pose2twist_core.cpp
@@ -24,7 +24,7 @@
 #include <cstddef>
 #include <functional>
 
-Pose2Twist::Pose2Twist() : Node("pose2twist_core")
+Pose2Twist::Pose2Twist(const rclcpp::NodeOptions & options) : rclcpp::Node("pose2twist", options)
 {
   using std::placeholders::_1;
 
@@ -129,3 +129,6 @@ void Pose2Twist::callbackPose(geometry_msgs::msg::PoseStamped::SharedPtr pose_ms
   angular_z_msg.data = twist_msg.twist.angular.z;
   angular_z_pub_->publish(angular_z_msg);
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(Pose2Twist)
diff --git a/localization/pose2twist/src/pose2twist_node.cpp b/localization/pose2twist/src/pose2twist_node.cpp