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feat(map_height_fitter): componentize MapHeightFitter #7192

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merged 3 commits into from
May 31, 2024
Merged

feat(map_height_fitter): componentize MapHeightFitter #7192

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9fa383d
rename file name and mod to componentize and use glog
a-maumau May 31, 2024
30cca83
mod to componentize and use glog
a-maumau May 31, 2024
719a0b1
change exec name and add log output both
a-maumau May 31, 2024
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12 changes: 8 additions & 4 deletions map/map_height_fitter/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,20 +5,24 @@ find_package(autoware_cmake REQUIRED)
find_package(PCL REQUIRED COMPONENTS common)
autoware_package()

ament_auto_add_library(map_height_fitter SHARED
ament_auto_add_library(${PROJECT_NAME} SHARED
src/map_height_fitter.cpp
src/map_height_fitter_node.cpp
)
target_link_libraries(map_height_fitter ${PCL_LIBRARIES})

# When adding `<depend>lanelet2_extension</depend>` to package.xml, many warnings are generated.
# These are treated as errors in compile, so pedantic warnings are disabled for this package.
target_compile_options(map_height_fitter PRIVATE -Wno-pedantic)

ament_auto_add_executable(node
src/node.cpp
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "MapHeightFitterNode"
EXECUTABLE ${PROJECT_NAME}_node
EXECUTOR MultiThreadedExecutor
)

ament_auto_package(
INSTALL_TO_SHARE
launch
config)
config
)
2 changes: 1 addition & 1 deletion map/map_height_fitter/launch/map_height_fitter.launch.xml
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Expand Up @@ -3,7 +3,7 @@

<group>
<push-ros-namespace namespace="map"/>
<node pkg="map_height_fitter" exec="node" name="map_height_fitter">
<node pkg="map_height_fitter" exec="map_height_fitter_node" output="both">
<param from="$(var param_path)"/>
<remap from="~/pointcloud_map" to="/map/pointcloud_map"/>
<remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
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1 change: 1 addition & 0 deletions map/map_height_fitter/package.xml
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Expand Up @@ -25,6 +25,7 @@
<depend>libpcl-common</depend>
<depend>pcl_conversions</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
Expand Down
15 changes: 4 additions & 11 deletions map/map_height_fitter/src/node.cpp → ...ght_fitter/src/map_height_fitter_node.cpp
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Expand Up @@ -23,7 +23,8 @@ using tier4_localization_msgs::srv::PoseWithCovarianceStamped;
class MapHeightFitterNode : public rclcpp::Node
{
public:
MapHeightFitterNode() : Node("map_height_fitter"), fitter_(this)
explicit MapHeightFitterNode(const rclcpp::NodeOptions & options)
: rclcpp::Node("map_height_fitter", options), fitter_(this)
{
const auto on_service = [this](
const PoseWithCovarianceStamped::Request::SharedPtr req,
Expand All @@ -46,13 +47,5 @@ class MapHeightFitterNode : public rclcpp::Node
rclcpp::Service<PoseWithCovarianceStamped>::SharedPtr srv_;
};

int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
rclcpp::executors::MultiThreadedExecutor executor;
auto node = std::make_shared<MapHeightFitterNode>();
executor.add_node(node);
executor.spin();
executor.remove_node(node);
rclcpp::shutdown();
}
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(MapHeightFitterNode)
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