feat(pose_estimator_arbiter): componentize PoseEstimatorArbiter

localization/pose_estimator_arbiter/CMakeLists.txt

@@ -4,29 +4,23 @@ project(pose_estimator_arbiter)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-find_package(glog REQUIRED)
-
 find_package(PCL REQUIRED COMPONENTS common)
 include_directories(SYSTEM ${PCL_INCLUDE_DIRS})
 
-# ==============================
-# switch rule library
-ament_auto_add_library(switch_rule
-  SHARED
-  src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp
-)
-target_include_directories(switch_rule PUBLIC src)
-
 # ==============================
 # pose estimator arbiter node
-ament_auto_add_executable(${PROJECT_NAME}
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp
-  src/pose_estimator_arbiter/pose_estimator_arbiter_node.cpp
+  src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp
 )
 target_include_directories(${PROJECT_NAME} PUBLIC src)
-target_link_libraries(${PROJECT_NAME} switch_rule glog::glog)
 
-# ==============================
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "pose_estimator_arbiter::PoseEstimatorArbiter"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR MultiThreadedExecutor
+)
+
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
 
@@ -53,6 +47,7 @@ endif()
 add_subdirectory(example_rule)
 
 # ==============================
-ament_auto_package(INSTALL_TO_SHARE
+ament_auto_package(
+  INSTALL_TO_SHARE
   launch
 )

localization/pose_estimator_arbiter/example_rule/CMakeLists.txt

@@ -7,7 +7,7 @@ ament_auto_add_library(example_rule
   src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp
 )
 target_include_directories(example_rule PUBLIC src example_rule/src)
-target_link_libraries(example_rule switch_rule)
+target_link_libraries(example_rule pose_estimator_arbiter)
 
 # ==============================
 # define test definition macro
@@ -16,7 +16,7 @@ function(add_testcase filepath)
   string(REGEX REPLACE ".cpp" "" test_name ${filename})
 
   ament_add_gtest(${test_name} ${filepath})
-  target_link_libraries("${test_name}" switch_rule example_rule)
+  target_link_libraries("${test_name}" pose_estimator_arbiter example_rule)
   target_include_directories(${test_name} PUBLIC src)
   ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS})
 endfunction()

localization/pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml

@@ -3,7 +3,7 @@
   <arg name="pose_sources" description=""/>
   <arg name="input_pointcloud" description=""/>
 
-  <node pkg="pose_estimator_arbiter" exec="pose_estimator_arbiter" name="pose_estimator_arbiter" output="screen">
+  <node pkg="pose_estimator_arbiter" exec="pose_estimator_arbiter_node" output="both">
     <param name="pose_sources" value="$(var pose_sources)"/>
 
     <!-- ndt -->

localization/pose_estimator_arbiter/package.xml

@@ -15,12 +15,12 @@
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>
-  <depend>glog</depend>
   <depend>lanelet2_extension</depend>
   <depend>magic_enum</depend>
   <depend>pcl_conversions</depend>
   <depend>pcl_ros</depend>
   <depend>pluginlib</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
@@ -29,9 +29,6 @@
   <depend>visualization_msgs</depend>
   <depend>yabloc_particle_filter</depend>
 
-  <exec_depend>rclcpp</exec_depend>
-  <exec_depend>rclcpp_components</exec_depend>
-
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp

@@ -47,7 +47,7 @@ class PoseEstimatorArbiter : public rclcpp::Node
   using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray;
 
 public:
-  PoseEstimatorArbiter();
+  explicit PoseEstimatorArbiter(const rclcpp::NodeOptions & options);
 
 private:
   // Set of running pose estimators specified by ros param `pose_sources`

localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp

@@ -42,8 +42,8 @@ static std::unordered_set<PoseEstimatorType> parse_estimator_name_args(
   return running_estimator_list;
 }
 
-PoseEstimatorArbiter::PoseEstimatorArbiter()
-: Node("pose_estimator_arbiter"),
+PoseEstimatorArbiter::PoseEstimatorArbiter(const rclcpp::NodeOptions & options)
+: rclcpp::Node("pose_estimator_arbiter", options),
   running_estimator_list_(parse_estimator_name_args(
     declare_parameter<std::vector<std::string>>("pose_sources"), get_logger())),
   logger_configure_(std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this))
@@ -211,3 +211,6 @@ void PoseEstimatorArbiter::on_timer()
 }
 
 }  // namespace pose_estimator_arbiter
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(pose_estimator_arbiter::PoseEstimatorArbiter)