feat(path_distance_calculator): change to read topic by polling (#7318)

replace Subscription to InterProcessPollingSubscriber

Signed-off-by: Autumn60 <akiro.harada@tier4.jp>
Co-authored-by: Autumn60 <akiro.harada@tier4.jp>
Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>

Author: Autumn60

common/path_distance_calculator/src/path_distance_calculator.cpp

@@ -25,15 +25,12 @@
 PathDistanceCalculator::PathDistanceCalculator(const rclcpp::NodeOptions & options)
 : Node("path_distance_calculator", options), self_pose_listener_(this)
 {
-  sub_path_ = create_subscription<autoware_planning_msgs::msg::Path>(
-    "~/input/path", rclcpp::QoS(1),
-    [this](const autoware_planning_msgs::msg::Path::SharedPtr msg) { path_ = msg; });
   pub_dist_ =
     create_publisher<tier4_debug_msgs::msg::Float64Stamped>("~/output/distance", rclcpp::QoS(1));
 
   using std::chrono_literals::operator""s;
   timer_ = rclcpp::create_timer(this, get_clock(), 1s, [this]() {
-    const auto path = path_;
+    const auto path = sub_path_.takeData();
     const auto pose = self_pose_listener_.getCurrentPose();
     if (!pose) {
       RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 5000, "no pose");

common/path_distance_calculator/src/path_distance_calculator.hpp

@@ -15,6 +15,7 @@
 #ifndef PATH_DISTANCE_CALCULATOR_HPP_
 #define PATH_DISTANCE_CALCULATOR_HPP_
 
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
 #include <autoware/universe_utils/ros/self_pose_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -27,11 +28,11 @@ class PathDistanceCalculator : public rclcpp::Node
   explicit PathDistanceCalculator(const rclcpp::NodeOptions & options);
 
 private:
-  rclcpp::Subscription<autoware_planning_msgs::msg::Path>::SharedPtr sub_path_;
+  autoware::universe_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::Path>
+    sub_path_{this, "~/input/path"};
   rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr pub_dist_;
   rclcpp::TimerBase::SharedPtr timer_;
   autoware::universe_utils::SelfPoseListener self_pose_listener_;
-  autoware_planning_msgs::msg::Path::SharedPtr path_;
 };
 
 #endif  // PATH_DISTANCE_CALCULATOR_HPP_