feat: componentize-mrm-handler (#7018)

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

Author: TetsuKawa

system/mrm_handler/CMakeLists.txt

@@ -4,11 +4,16 @@ project(mrm_handler)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(mrm_handler
-  src/mrm_handler/mrm_handler_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/mrm_handler/mrm_handler_core.cpp
 )
 
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "MrmHandler"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR MultiThreadedExecutor
+)
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
   config

system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp

@@ -60,7 +60,7 @@ struct Param
 class MrmHandler : public rclcpp::Node
 {
 public:
-  MrmHandler();
+  explicit MrmHandler(const rclcpp::NodeOptions & options);
 
 private:
   // type

system/mrm_handler/launch/mrm_handler.launch.xml

@@ -18,7 +18,7 @@
   <arg name="config_file" default="$(find-pkg-share mrm_handler)/config/mrm_handler.param.yaml"/>
 
   <!-- mrm_handler -->
-  <node pkg="mrm_handler" exec="mrm_handler" name="mrm_handler" output="screen">
+  <node pkg="mrm_handler" exec="mrm_handler_node" name="mrm_handler" output="screen">
     <remap from="~/input/operation_mode_availability" to="$(var input_operation_mode_availability)"/>
     <remap from="~/input/odometry" to="$(var input_odometry)"/>
     <remap from="~/input/control_mode" to="$(var input_control_mode)"/>

system/mrm_handler/package.xml

@@ -18,6 +18,7 @@
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
   <depend>tier4_system_msgs</depend>

system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp

@@ -18,7 +18,7 @@
 #include <string>
 #include <utility>
 
-MrmHandler::MrmHandler() : Node("mrm_handler")
+MrmHandler::MrmHandler(const rclcpp::NodeOptions & options) : Node("mrm_handler", options)
 {
   // Parameter
   param_.update_rate = declare_parameter<int>("update_rate", 10);
@@ -597,3 +597,6 @@ bool MrmHandler::isArrivedAtGoal()
 
   return operation_mode_state_->mode == OperationModeState::STOP;
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(MrmHandler)