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feat: componentize-mrm-handler (#7018)
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
1 parent db0017b commit 0518585

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6 files changed

+14
-37
lines changed

6 files changed

+14
-37
lines changed

system/mrm_handler/CMakeLists.txt

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

system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp

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

system/mrm_handler/launch/mrm_handler.launch.xml

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

system/mrm_handler/package.xml

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

system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp

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

system/mrm_handler/src/mrm_handler/mrm_handler_node.cpp

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