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>

Author: a-maumau

localization/pose_instability_detector/CMakeLists.txt

@@ -4,21 +4,26 @@ project(pose_instability_detector)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(pose_instability_detector
-  src/main.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/pose_instability_detector.cpp
 )
 
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "PoseInstabilityDetector"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
+)
+
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
-  ament_auto_add_gtest(test_pose_instability_detector
+  ament_auto_add_gtest(test_${PROJECT_NAME}
     test/test.cpp
     src/pose_instability_detector.cpp
   )
 endif()
 
 ament_auto_package(
   INSTALL_TO_SHARE
-    launch
-    config
+  launch
+  config
 )

localization/pose_instability_detector/launch/pose_instability_detector.launch.xml

@@ -6,7 +6,7 @@
   <arg name="input_odometry" default="~/input/odometry"/>
   <arg name="input_twist" default="~/input/twist"/>
 
-  <node pkg="pose_instability_detector" exec="pose_instability_detector" name="$(var node_name)" output="log">
+  <node pkg="pose_instability_detector" exec="pose_instability_detector_node" name="$(var node_name)" output="both">
     <remap from="~/input/odometry" to="$(var input_odometry)"/>
     <remap from="~/input/twist" to="$(var input_twist)"/>
     <param from="$(var param_file)"/>

localization/pose_instability_detector/package.xml

@@ -22,6 +22,7 @@
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tier4_autoware_utils</depend>

localization/pose_instability_detector/src/main.cpp

@@ -23,7 +23,7 @@
 #include <string>
 
 PoseInstabilityDetector::PoseInstabilityDetector(const rclcpp::NodeOptions & options)
-: Node("pose_instability_detector", options),
+: rclcpp::Node("pose_instability_detector", options),
   threshold_diff_position_x_(this->declare_parameter<double>("threshold_diff_position_x")),
   threshold_diff_position_y_(this->declare_parameter<double>("threshold_diff_position_y")),
   threshold_diff_position_z_(this->declare_parameter<double>("threshold_diff_position_z")),
@@ -174,3 +174,6 @@ void PoseInstabilityDetector::callback_timer()
   prev_odometry_ = latest_odometry_;
   twist_buffer_.clear();
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(PoseInstabilityDetector)