Skip to content

Commit 98cc9f2

Browse files
authored
feat(pose_instability_detector): componentize PoseInstabilityDetector (#7114)
* remove unusing main func file Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * mod to componentize and use glog Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> * change log output from log to both Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> --------- Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
1 parent fe30833 commit 98cc9f2

File tree

5 files changed

+16
-33
lines changed

5 files changed

+16
-33
lines changed

localization/pose_instability_detector/CMakeLists.txt

+10-5
Original file line numberDiff line numberDiff line change
@@ -4,21 +4,26 @@ project(pose_instability_detector)
44
find_package(autoware_cmake REQUIRED)
55
autoware_package()
66

7-
ament_auto_add_executable(pose_instability_detector
8-
src/main.cpp
7+
ament_auto_add_library(${PROJECT_NAME} SHARED
98
src/pose_instability_detector.cpp
109
)
1110

11+
rclcpp_components_register_node(${PROJECT_NAME}
12+
PLUGIN "PoseInstabilityDetector"
13+
EXECUTABLE ${PROJECT_NAME}_node
14+
EXECUTOR SingleThreadedExecutor
15+
)
16+
1217
if(BUILD_TESTING)
1318
find_package(ament_cmake_gtest REQUIRED)
14-
ament_auto_add_gtest(test_pose_instability_detector
19+
ament_auto_add_gtest(test_${PROJECT_NAME}
1520
test/test.cpp
1621
src/pose_instability_detector.cpp
1722
)
1823
endif()
1924

2025
ament_auto_package(
2126
INSTALL_TO_SHARE
22-
launch
23-
config
27+
launch
28+
config
2429
)

localization/pose_instability_detector/launch/pose_instability_detector.launch.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@
66
<arg name="input_odometry" default="~/input/odometry"/>
77
<arg name="input_twist" default="~/input/twist"/>
88

9-
<node pkg="pose_instability_detector" exec="pose_instability_detector" name="$(var node_name)" output="log">
9+
<node pkg="pose_instability_detector" exec="pose_instability_detector_node" name="$(var node_name)" output="both">
1010
<remap from="~/input/odometry" to="$(var input_odometry)"/>
1111
<remap from="~/input/twist" to="$(var input_twist)"/>
1212
<param from="$(var param_file)"/>

localization/pose_instability_detector/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -22,6 +22,7 @@
2222
<depend>geometry_msgs</depend>
2323
<depend>nav_msgs</depend>
2424
<depend>rclcpp</depend>
25+
<depend>rclcpp_components</depend>
2526
<depend>tf2</depend>
2627
<depend>tf2_geometry_msgs</depend>
2728
<depend>tier4_autoware_utils</depend>

localization/pose_instability_detector/src/main.cpp

-26
This file was deleted.

localization/pose_instability_detector/src/pose_instability_detector.cpp

+4-1
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@
2323
#include <string>
2424

2525
PoseInstabilityDetector::PoseInstabilityDetector(const rclcpp::NodeOptions & options)
26-
: Node("pose_instability_detector", options),
26+
: rclcpp::Node("pose_instability_detector", options),
2727
threshold_diff_position_x_(this->declare_parameter<double>("threshold_diff_position_x")),
2828
threshold_diff_position_y_(this->declare_parameter<double>("threshold_diff_position_y")),
2929
threshold_diff_position_z_(this->declare_parameter<double>("threshold_diff_position_z")),
@@ -174,3 +174,6 @@ void PoseInstabilityDetector::callback_timer()
174174
prev_odometry_ = latest_odometry_;
175175
twist_buffer_.clear();
176176
}
177+
178+
#include <rclcpp_components/register_node_macro.hpp>
179+
RCLCPP_COMPONENTS_REGISTER_NODE(PoseInstabilityDetector)

0 commit comments

Comments
 (0)