feat(yabloc_common): componentize yabloc_common nodes (#7143)

* make executables component

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>

* log output changes to both

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>

* style(pre-commit): autofix

* add default param path

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>

* add glog as depend package

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: 2 people

localization/yabloc/yabloc_common/CMakeLists.txt

@@ -23,9 +23,6 @@ find_package(Sophus REQUIRED)
 # because it rewrite CMAKE_NO_SYSTEM_FROM_IMPORTED to TRUE.
 set(CMAKE_NO_SYSTEM_FROM_IMPORTED FALSE)
 
-# glog
-find_package(glog REQUIRED)
-
 # ===================================================
 # GeographicLib
 find_package(PkgConfig)
@@ -45,7 +42,10 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/static_tf_subscriber.cpp
   src/extract_line_segments.cpp
   src/transform_line_segments.cpp
-  src/color.cpp)
+  src/color.cpp
+  src/ground_server/ground_server_core.cpp
+  src/ground_server/polygon_operation.cpp
+  src/ll2_decomposer/ll2_decomposer_core.cpp)
 target_include_directories(
   ${PROJECT_NAME} PUBLIC include
 )
@@ -63,23 +63,18 @@ target_link_libraries(${PROJECT_NAME} Geographic ${PCL_LIBRARIES} Sophus::Sophus
 # ===================================================
 # Executables
 # ground_server
-set(TARGET ground_server_node)
-ament_auto_add_executable(${TARGET}
-  src/ground_server/ground_server_core.cpp
-  src/ground_server/ground_server_node.cpp
-  src/ground_server/polygon_operation.cpp)
-target_include_directories(${TARGET} PUBLIC include)
-target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${TARGET} ${PCL_LIBRARIES} Sophus::Sophus glog::glog)
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "yabloc::ground_server::GroundServer"
+  EXECUTABLE yabloc_ground_server_node
+  EXECUTOR SingleThreadedExecutor
+)
 
 # ll2_decomposer
-set(TARGET ll2_decomposer_node)
-ament_auto_add_executable(${TARGET}
-  src/ll2_decomposer/ll2_decomposer_core.cpp
-  src/ll2_decomposer/ll2_decomposer_node.cpp)
-target_include_directories(${TARGET} PUBLIC include)
-target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${TARGET} ${PCL_LIBRARIES})
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "yabloc::ll2_decomposer::Ll2Decomposer"
+  EXECUTABLE yabloc_ll2_decomposer_node
+  EXECUTOR SingleThreadedExecutor
+)
 
 # ===================================================
 ament_export_dependencies(PCL Sophus)

localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp

@@ -57,7 +57,7 @@ class GroundServer : public rclcpp::Node
   using String = std_msgs::msg::String;
   using PointCloud2 = sensor_msgs::msg::PointCloud2;
   using Point = geometry_msgs::msg::Point;
-  GroundServer();
+  explicit GroundServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 private:
   const bool force_zero_tilt_;

localization/yabloc/yabloc_common/include/yabloc_common/ll2_decomposer/ll2_decomposer.hpp

@@ -39,7 +39,7 @@ class Ll2Decomposer : public rclcpp::Node
   using Marker = visualization_msgs::msg::Marker;
   using MarkerArray = visualization_msgs::msg::MarkerArray;
 
-  Ll2Decomposer();
+  explicit Ll2Decomposer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
 private:
   rclcpp::Publisher<Cloud2>::SharedPtr pub_road_marking_;

localization/yabloc/yabloc_common/launch/yabloc_common.launch.xml

@@ -1,13 +1,15 @@
 <launch>
   <arg name="input_particle_pose" default="/localization/pose_twist_fusion_filter/pose"/>
+  <arg name="ground_server_param_path" default="$(find-pkg-share yabloc_common)/config/ground_server.param.yaml"/>
+  <arg name="ll2_decomposer_param_path" default="$(find-pkg-share yabloc_common)/config/ll2_decomposer.param.yaml"/>
 
   <!-- ground server -->
   <arg name="output_height" default="height"/>
   <arg name="output_ground" default="ground"/>
   <arg name="output_ground_markers" default="ground_markers"/>
   <arg name="output_ground_status" default="ground_status"/>
   <arg name="output_near_cloud" default="near_cloud"/>
-  <node name="ground_server" pkg="yabloc_common" exec="ground_server_node" output="screen" args="--ros-args --log-level warn">
+  <node pkg="yabloc_common" exec="yabloc_ground_server_node" output="both">
     <param from="$(var ground_server_param_path)"/>
 
     <remap from="~/input/vector_map" to="/map/vector_map"/>
@@ -25,7 +27,7 @@
   <arg name="output_ll2_bounding_box" default="ll2_bounding_box"/>
   <arg name="output_sign_board_marker" default="sign_board_marker"/>
 
-  <node name="ll2_decomposer" pkg="yabloc_common" exec="ll2_decomposer_node" output="screen" args="--ros-args --log-level warn">
+  <node pkg="yabloc_common" exec="yabloc_ll2_decomposer_node" output="both">
     <param from="$(var ll2_decomposer_param_path)"/>
 
     <remap from="~/input/vector_map" to="/map/vector_map"/>

localization/yabloc/yabloc_common/package.xml

@@ -19,11 +19,11 @@
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>cv_bridge</depend>
   <depend>geometry_msgs</depend>
-  <depend>glog</depend>
   <depend>lanelet2_core</depend>
   <depend>lanelet2_extension</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>signal_processing</depend>
   <depend>sophus</depend>

localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp

@@ -30,8 +30,8 @@
 
 namespace yabloc::ground_server
 {
-GroundServer::GroundServer()
-: Node("ground_server"),
+GroundServer::GroundServer(const rclcpp::NodeOptions & options)
+: Node("ground_server", options),
   force_zero_tilt_(declare_parameter<bool>("force_zero_tilt")),
   R(declare_parameter<int>("R")),
   K(declare_parameter<int>("K"))
@@ -248,3 +248,6 @@ GroundServer::GroundPlane GroundServer::estimate_ground(const Point & point)
 }
 
 }  // namespace yabloc::ground_server
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(yabloc::ground_server::GroundServer)

localization/yabloc/yabloc_common/src/ground_server/ground_server_node.cpp

@@ -24,7 +24,7 @@
 
 namespace yabloc::ll2_decomposer
 {
-Ll2Decomposer::Ll2Decomposer() : Node("ll2_to_image")
+Ll2Decomposer::Ll2Decomposer(const rclcpp::NodeOptions & options) : Node("ll2_to_image", options)
 {
   using std::placeholders::_1;
   const rclcpp::QoS latch_qos = rclcpp::QoS(10).transient_local();
@@ -263,3 +263,6 @@ void Ll2Decomposer::publish_additional_marker(const lanelet::LaneletMapPtr & lan
 }
 
 }  // namespace yabloc::ll2_decomposer
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(yabloc::ll2_decomposer::Ll2Decomposer)

localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp

@@ -18,6 +18,7 @@
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>geometry_msgs</depend>
+  <depend>glog</depend>
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>sophus</depend>