From f2ae1af058d28edf1f856332070a6749f15b3395 Mon Sep 17 00:00:00 2001
From: Masaki Baba <maumaumaumaumaumaumaumaumaumau@gmail.com>
Date: Fri, 24 May 2024 16:16:32 +0900
Subject: [PATCH] feat(pose2twist): componentize Pose2Twist (#7113)

* remove unusing main func file

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

* mod to componentize and use glog

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

* change log output from log to both

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

* style(pre-commit): autofix

---------

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 localization/pose2twist/CMakeLists.txt        |  9 ++++--
 .../include/pose2twist/pose2twist_core.hpp    |  2 +-
 .../pose2twist/launch/pose2twist.launch.xml   |  2 +-
 localization/pose2twist/package.xml           |  1 +
 .../pose2twist/src/pose2twist_core.cpp        |  5 +++-
 .../pose2twist/src/pose2twist_node.cpp        | 29 -------------------
 6 files changed, 14 insertions(+), 34 deletions(-)
 delete mode 100644 localization/pose2twist/src/pose2twist_node.cpp

diff --git a/localization/pose2twist/CMakeLists.txt b/localization/pose2twist/CMakeLists.txt
index a2fbbddf7d120..2a586aa9cd049 100644
--- 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
index c2a39f7e2ed3d..459a62ea5cd13 100644
--- 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
index a0fae57a163e6..57a41dbfcf017 100644
--- 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
index 16c49bb51c218..07e445c72978c 100644
--- 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
index a321a06122816..4b98ec6c81ad4 100644
--- 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
deleted file mode 100644
index 81f98461ecffd..0000000000000
--- a/localization/pose2twist/src/pose2twist_node.cpp
+++ /dev/null
@@ -1,29 +0,0 @@
-// Copyright 2015-2019 Autoware Foundation
-//
-// 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 "pose2twist/pose2twist_core.hpp"
-
-#include <rclcpp/rclcpp.hpp>
-
-#include <memory>
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-
-  rclcpp::spin(std::make_shared<Pose2Twist>());
-  rclcpp::shutdown();
-
-  return 0;
-}