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feat(stop_filter): componentize StopFilter (#7099)
* remove unused main func file Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * add and mod to use glog Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * rm dependencies Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * change log output from screen to both Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> --------- Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
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-35
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6 files changed

+15
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localization/stop_filter/CMakeLists.txt

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@@ -4,11 +4,15 @@ project(stop_filter)
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find_package(autoware_cmake REQUIRED)
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autoware_package()
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ament_auto_add_executable(stop_filter
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src/stop_filter_node.cpp
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ament_auto_add_library(${PROJECT_NAME} SHARED
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src/stop_filter.cpp
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)
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ament_target_dependencies(stop_filter)
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rclcpp_components_register_node(${PROJECT_NAME}
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PLUGIN "StopFilter"
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EXECUTABLE ${PROJECT_NAME}_node
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EXECUTOR SingleThreadedExecutor
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)
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ament_auto_package(
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INSTALL_TO_SHARE

localization/stop_filter/include/stop_filter/stop_filter.hpp

+1-1
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@@ -37,7 +37,7 @@
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class StopFilter : public rclcpp::Node
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{
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public:
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StopFilter(const std::string & node_name, const rclcpp::NodeOptions & options);
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explicit StopFilter(const rclcpp::NodeOptions & options);
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private:
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rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pub_odom_; //!< @brief odom publisher

localization/stop_filter/launch/stop_filter.launch.xml

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@@ -3,7 +3,7 @@
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<arg name="input_odom_name" default="ekf_odom"/>
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<arg name="output_odom_name" default="stop_filter_odom"/>
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<arg name="debug_stop_flag" default="debug/stop_flag"/>
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<node pkg="stop_filter" exec="stop_filter" name="stop_filter" output="screen">
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<node pkg="stop_filter" exec="stop_filter_node" output="both">
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<remap from="input/odom" to="$(var input_odom_name)"/>
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<remap from="output/odom" to="$(var output_odom_name)"/>

localization/stop_filter/package.xml

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@@ -21,6 +21,7 @@
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<depend>geometry_msgs</depend>
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<depend>nav_msgs</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>
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<depend>tf2</depend>
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<depend>tier4_debug_msgs</depend>
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localization/stop_filter/src/stop_filter.cpp

+5-2
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@@ -24,8 +24,8 @@
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using std::placeholders::_1;
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StopFilter::StopFilter(const std::string & node_name, const rclcpp::NodeOptions & node_options)
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: rclcpp::Node(node_name, node_options)
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StopFilter::StopFilter(const rclcpp::NodeOptions & node_options)
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: rclcpp::Node("stop_filter", node_options)
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{
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vx_threshold_ = declare_parameter<double>("vx_threshold");
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wz_threshold_ = declare_parameter<double>("wz_threshold");
@@ -57,3 +57,6 @@ void StopFilter::callbackOdometry(const nav_msgs::msg::Odometry::SharedPtr msg)
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pub_stop_flag_->publish(stop_flag_msg);
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pub_odom_->publish(odom_msg);
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}
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#include <rclcpp_components/register_node_macro.hpp>
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RCLCPP_COMPONENTS_REGISTER_NODE(StopFilter)

localization/stop_filter/src/stop_filter_node.cpp

-28
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