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refactor: commonize
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Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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satoshi-ota committed Sep 27, 2024
1 parent 623acf8 commit ad3d89e
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Showing 7 changed files with 197 additions and 377 deletions.
22 changes: 13 additions & 9 deletions planning/autoware_planning_data_analyzer/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -40,16 +40,20 @@ install(
EXPORT install_targets
)

# ament_auto_add_library(${PROJECT_NAME} SHARED
# src/node.cpp
# src/utils.cpp
# src/data_structs.cpp
# )
ament_auto_add_library(${PROJECT_NAME} SHARED
src/node.cpp
src/utils.cpp
src/bag_handler.cpp
src/evaluation.cpp
src/data_structs.cpp
)

# rclcpp_components_register_node(${PROJECT_NAME}
# PLUGIN "autoware::behavior_analyzer::BehaviorAnalyzerNode"
# EXECUTABLE ${PROJECT_NAME}_node
# )
target_link_libraries(${PROJECT_NAME} matplotlib_cpp)

rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "autoware::behavior_analyzer::BehaviorAnalyzerNode"
EXECUTABLE ${PROJECT_NAME}_node
)

ament_auto_add_executable(minimal
src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,21 +29,21 @@
</include>
</group>

<node pkg="autoware_planning_data_analyzer" exec="minimal" name="behavior_analyzer" output="screen">
<param name="bag_path" value="$(var bag_path)"/>
<param from="$(find-pkg-share autoware_planning_data_analyzer)/config/behavior_analyzer.param.yaml"/>
<remap from="input/lanelet2_map" to="/map/vector_map"/>
</node>

<!-- <node_container pkg="rclcpp_components" exec="component_container" name="behavior_analyzer_container" namespace="" output="screen"> -->
<!-- <composable_node pkg="autoware_planning_data_analyzer" plugin="autoware::behavior_analyzer::BehaviorAnalyzerNode" name="behavior_analyzer"> -->
<!-- <param name="bag_path" value="$(var bag_path)"/> -->
<!-- <param from="$(find-pkg-share autoware_planning_data_analyzer)/config/behavior_analyzer.param.yaml"/> -->
<!-- <remap from="input/lanelet2_map" to="/map/vector_map"/> -->
<!-- </composable_node> -->

<!-- <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/> -->
<!-- </node_container> -->
<!-- <node pkg="autoware_planning_data_analyzer" exec="minimal" name="behavior_analyzer" output="screen"> -->
<!-- <param name="bag_path" value="$(var bag_path)"/> -->
<!-- <param from="$(find-pkg-share autoware_planning_data_analyzer)/config/behavior_analyzer.param.yaml"/> -->
<!-- <remap from="input/lanelet2_map" to="/map/vector_map"/> -->
<!-- </node> -->

<node_container pkg="rclcpp_components" exec="component_container" name="behavior_analyzer_container" namespace="" output="screen">
<composable_node pkg="autoware_planning_data_analyzer" plugin="autoware::behavior_analyzer::BehaviorAnalyzerNode" name="behavior_analyzer">
<param name="bag_path" value="$(var bag_path)"/>
<param from="$(find-pkg-share autoware_planning_data_analyzer)/config/behavior_analyzer.param.yaml"/>
<remap from="input/lanelet2_map" to="/map/vector_map"/>
</composable_node>

<composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
</node_container>

<group>
<include file="$(find-pkg-share tier4_vehicle_launch)/launch/vehicle.launch.xml">
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