feat(automatic_pose_initializer): componentize node (#7021)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Author: isamu-takagi

system/default_ad_api_helpers/automatic_pose_initializer/CMakeLists.txt

@@ -4,8 +4,14 @@ project(automatic_pose_initializer)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(automatic_pose_initializer
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/automatic_pose_initializer.cpp
 )
 
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "ServiceLogChecker"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR MultiThreadedExecutor
+)
+
 ament_auto_package(INSTALL_TO_SHARE launch)

system/default_ad_api_helpers/automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml

@@ -1,6 +1,6 @@
 <launch>
   <group>
     <push-ros-namespace namespace="default_ad_api/helpers"/>
-    <node pkg="automatic_pose_initializer" exec="automatic_pose_initializer" name="automatic_pose_initializer"/>
+    <node pkg="automatic_pose_initializer" exec="automatic_pose_initializer_node"/>
   </group>
 </launch>

system/default_ad_api_helpers/automatic_pose_initializer/package.xml

@@ -16,6 +16,7 @@
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>component_interface_utils</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp

@@ -19,7 +19,8 @@
 namespace automatic_pose_initializer
 {
 
-AutomaticPoseInitializer::AutomaticPoseInitializer() : Node("automatic_pose_initializer")
+AutomaticPoseInitializer::AutomaticPoseInitializer(const rclcpp::NodeOptions & options)
+: Node("automatic_pose_initializer", options)
 {
   const auto adaptor = component_interface_utils::NodeAdaptor(this);
   group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -48,13 +49,5 @@ void AutomaticPoseInitializer::on_timer()
 
 }  // namespace automatic_pose_initializer
 
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  rclcpp::executors::MultiThreadedExecutor executor;
-  auto node = std::make_shared<automatic_pose_initializer::AutomaticPoseInitializer>();
-  executor.add_node(node);
-  executor.spin();
-  executor.remove_node(node);
-  rclcpp::shutdown();
-}
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(automatic_pose_initializer::AutomaticPoseInitializer)

system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp

@@ -25,7 +25,7 @@ namespace automatic_pose_initializer
 class AutomaticPoseInitializer : public rclcpp::Node
 {
 public:
-  AutomaticPoseInitializer();
+  explicit AutomaticPoseInitializer(const rclcpp::NodeOptions & options);
 
 private:
   void on_timer();