use InterProcessPollingSubscriber

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Author: soblin

control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp

@@ -20,6 +20,7 @@
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <tier4_autoware_utils/ros/polling_subsriber.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <autoware_auto_planning_msgs/msg/trajectory.hpp>
@@ -224,17 +225,28 @@ class CollisionDataKeeper
   rclcpp::Clock::SharedPtr clock_;
 };
 
+static rclcpp::SensorDataQoS getSingleDepthSensorQoS()
+{
+  rclcpp::SensorDataQoS qos;
+  qos.get_rmw_qos_profile().depth = 1;
+  return qos;
+}
+
 class AEB : public rclcpp::Node
 {
 public:
   explicit AEB(const rclcpp::NodeOptions & node_options);
 
   // subscriber
-  rclcpp::Subscription<PointCloud2>::SharedPtr sub_point_cloud_;
-  rclcpp::Subscription<VelocityReport>::SharedPtr sub_velocity_;
-  rclcpp::Subscription<Imu>::SharedPtr sub_imu_;
-  rclcpp::Subscription<Trajectory>::SharedPtr sub_predicted_traj_;
-  rclcpp::Subscription<AutowareState>::SharedPtr sub_autoware_state_;
+  tier4_autoware_utils::InterProcessPollingSubscriber<PointCloud2> sub_point_cloud_{
+    this, "~/input/pointcloud", getSingleDepthSensorQoS()};
+  tier4_autoware_utils::InterProcessPollingSubscriber<VelocityReport> sub_veloclty_{
+    this, "~/input/velocity"};
+  tier4_autoware_utils::InterProcessPollingSubscriber<Imu> sub_imu_{this, "~/input/imu"};
+  tier4_autoware_utils::InterProcessPollingSubscriber<Trajectory> sub_predicted_traj_{
+    this, "~/input/predicted_trajectory"};
+  tier4_autoware_utils::InterProcessPollingSubscriber<AutowareState> sub_autoware_state_{
+    this, "/autoware/state"};
 
   // publisher
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_obstacle_pointcloud_;

control/autonomous_emergency_braking/src/node.cpp

@@ -105,27 +105,6 @@ AEB::AEB(const rclcpp::NodeOptions & node_options)
   vehicle_info_(vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo()),
   collision_data_keeper_(this->get_clock())
 {
-  // Subscribers
-  {
-    sub_point_cloud_ = this->create_subscription<PointCloud2>(
-      "~/input/pointcloud", rclcpp::SensorDataQoS(),
-      std::bind(&AEB::onPointCloud, this, std::placeholders::_1));
-
-    sub_velocity_ = this->create_subscription<VelocityReport>(
-      "~/input/velocity", rclcpp::QoS{1}, std::bind(&AEB::onVelocity, this, std::placeholders::_1));
-
-    sub_imu_ = this->create_subscription<Imu>(
-      "~/input/imu", rclcpp::QoS{1}, std::bind(&AEB::onImu, this, std::placeholders::_1));
-
-    sub_predicted_traj_ = this->create_subscription<Trajectory>(
-      "~/input/predicted_trajectory", rclcpp::QoS{1},
-      std::bind(&AEB::onPredictedTrajectory, this, std::placeholders::_1));
-
-    sub_autoware_state_ = this->create_subscription<AutowareState>(
-      "/autoware/state", rclcpp::QoS{1},
-      std::bind(&AEB::onAutowareState, this, std::placeholders::_1));
-  }
-
   // Publisher
   {
     pub_obstacle_pointcloud_ =