Commit 2c65ee9 1 parent ac8d50b commit 2c65ee9 Copy full SHA for 2c65ee9
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system/default_ad_api_helpers/automatic_pose_initializer
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lines changed Original file line number Diff line number Diff line change @@ -4,8 +4,14 @@ project(automatic_pose_initializer)
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find_package (autoware_cmake REQUIRED)
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autoware_package()
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- ament_auto_add_executable(automatic_pose_initializer
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+ ament_auto_add_library( ${PROJECT_NAME} SHARED
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src/automatic_pose_initializer.cpp
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)
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+ rclcpp_components_register_node(${PROJECT_NAME}
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+ PLUGIN "ServiceLogChecker"
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+ EXECUTABLE ${PROJECT_NAME} _node
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+ EXECUTOR MultiThreadedExecutor
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+ )
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+
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ament_auto_package(INSTALL_TO_SHARE launch)
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<launch >
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<group >
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<push-ros-namespace namespace =" default_ad_api/helpers" />
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- <node pkg =" automatic_pose_initializer" exec =" automatic_pose_initializer " name = " automatic_pose_initializer " />
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+ <node pkg =" automatic_pose_initializer" exec =" automatic_pose_initializer_node " />
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</group >
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</launch >
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<depend >autoware_adapi_v1_msgs</depend >
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<depend >component_interface_utils</depend >
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<depend >rclcpp</depend >
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+ <depend >rclcpp_components</depend >
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<test_depend >ament_lint_auto</test_depend >
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<test_depend >autoware_lint_common</test_depend >
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namespace automatic_pose_initializer
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{
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- AutomaticPoseInitializer::AutomaticPoseInitializer () : Node(" automatic_pose_initializer" )
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+ AutomaticPoseInitializer::AutomaticPoseInitializer (const rclcpp::NodeOptions & options)
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+ : Node(" automatic_pose_initializer" , options)
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{
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const auto adaptor = component_interface_utils::NodeAdaptor (this );
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group_cli_ = create_callback_group (rclcpp::CallbackGroupType::MutuallyExclusive);
@@ -48,13 +49,5 @@ void AutomaticPoseInitializer::on_timer()
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} // namespace automatic_pose_initializer
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- int main (int argc, char ** argv)
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- {
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- rclcpp::init (argc, argv);
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- rclcpp::executors::MultiThreadedExecutor executor;
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- auto node = std::make_shared<automatic_pose_initializer::AutomaticPoseInitializer>();
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- executor.add_node (node);
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- executor.spin ();
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- executor.remove_node (node);
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- rclcpp::shutdown ();
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- }
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+ #include < rclcpp_components/register_node_macro.hpp>
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+ RCLCPP_COMPONENTS_REGISTER_NODE (automatic_pose_initializer::AutomaticPoseInitializer)
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class AutomaticPoseInitializer : public rclcpp ::Node
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{
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public:
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- AutomaticPoseInitializer ();
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+ explicit AutomaticPoseInitializer (const rclcpp::NodeOptions & options );
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private:
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void on_timer ();
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