feat(yabloc_pose_initializer): componentize yabloc_pose_initializer n…

…ode (autowarefoundation#7506) * change the node to component Signed-off-by: Kento Yabuuchi <[email protected]> * remove useless node.cpp Signed-off-by: Kento Yabuuchi <[email protected]> * add rclcpp_components as dependency Signed-off-by: Kento Yabuuchi <[email protected]> --------- Signed-off-by: Kento Yabuuchi <[email protected]> Signed-off-by: Simon Eisenmann <[email protected]>
simon-eisenmann-driveblocks · Jun 26, 2024 · 49e69bd · 49e69bd
1 parent 79bb920
commit 49e69bd
Show file tree

Hide file tree

Showing 6 changed files with 21 additions and 38 deletions.
diff --git a/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt b/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt
@@ -20,18 +20,22 @@ find_package(OpenCV REQUIRED)
 # ===================================================
 # Executable
 # Camera
-set(TARGET camera_pose_initializer_node)
-ament_auto_add_executable(${TARGET}
+ament_auto_add_library(${PROJECT_NAME}
   src/camera/lane_image.cpp
   src/camera/marker_module.cpp
   src/camera/projector_module.cpp
   src/camera/semantic_segmentation.cpp
-  src/camera/camera_pose_initializer_core.cpp
-  src/camera/camera_pose_initializer_node.cpp)
-target_include_directories(${TARGET} PUBLIC include)
-target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${TARGET} ${PCL_LIBRARIES} Sophus::Sophus)
-ament_target_dependencies(${TARGET} OpenCV)
+  src/camera/camera_pose_initializer_core.cpp)
+target_include_directories(${PROJECT_NAME} PUBLIC include)
+target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} Sophus::Sophus)
+ament_target_dependencies(${PROJECT_NAME} OpenCV)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "yabloc::CameraPoseInitializer"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR MultiThreadedExecutor
+)
 
 # ===================================================
 ament_auto_package(INSTALL_TO_SHARE config launch)
diff --git a/...abloc_pose_initializer/include/yabloc_pose_initializer/camera/camera_pose_initializer.hpp b/...abloc_pose_initializer/include/yabloc_pose_initializer/camera/camera_pose_initializer.hpp
@@ -43,7 +43,7 @@ class CameraPoseInitializer : public rclcpp::Node
   using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;
   using RequestPoseAlignment = tier4_localization_msgs::srv::PoseWithCovarianceStamped;
 
-  CameraPoseInitializer();
+  explicit CameraPoseInitializer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 private:
   const int angle_resolution_;

diff --git a/localization/yabloc/yabloc_pose_initializer/launch/yabloc_pose_initializer.launch.xml b/localization/yabloc/yabloc_pose_initializer/launch/yabloc_pose_initializer.launch.xml
@@ -2,7 +2,7 @@
   <arg name="data_path" default="$(env HOME)/autoware_data"/>
   <arg name="model_path" default="$(var data_path)/yabloc_pose_initializer/saved_model/model_float32.pb"/>
 
-  <node name="camera_pose_initializer_node" pkg="yabloc_pose_initializer" exec="camera_pose_initializer_node" output="screen" args="--ros-args --log-level info">
+  <node pkg="yabloc_pose_initializer" exec="yabloc_pose_initializer_node" output="both">
     <param from="$(var camera_pose_initializer_param_path)"/>
     <param name="model_path" value="$(var model_path)"/>
     <remap from="~/input/camera_info" to="/localization/pose_estimator/yabloc/image_processing/undistorted/camera_info"/>

diff --git a/localization/yabloc/yabloc_pose_initializer/package.xml b/localization/yabloc/yabloc_pose_initializer/package.xml
@@ -22,6 +22,7 @@
   <depend>lanelet2_extension</depend>
   <depend>libopencv-dev</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>tier4_localization_msgs</depend>
   <depend>visualization_msgs</depend>

diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_core.cpp
@@ -26,8 +26,9 @@
 
 namespace yabloc
 {
-CameraPoseInitializer::CameraPoseInitializer()
-: Node("camera_pose_initializer"), angle_resolution_(declare_parameter<int>("angle_resolution"))
+CameraPoseInitializer::CameraPoseInitializer(const rclcpp::NodeOptions & options)
+: Node("camera_pose_initializer", options),
+  angle_resolution_(declare_parameter<int>("angle_resolution"))
 {
   using std::placeholders::_1;
   using std::placeholders::_2;
@@ -216,3 +217,6 @@ CameraPoseInitializer::PoseCovStamped CameraPoseInitializer::create_rectified_in
 }
 
 }  // namespace yabloc
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(yabloc::CameraPoseInitializer)
diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_node.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/camera_pose_initializer_node.cpp