Skip to content

Commit db0017b

Browse files
feat: componentize-emergency-handler (#7017)
* feat: componentize-emergency-handler Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * style(pre-commit): autofix * feat: add an arg to the constructor Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> * style(pre-commit): autofix --------- Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
1 parent 7da5afd commit db0017b

File tree

6 files changed

+15
-37
lines changed

6 files changed

+15
-37
lines changed

system/emergency_handler/CMakeLists.txt

+7-2
Original file line numberDiff line numberDiff line change
@@ -4,11 +4,16 @@ project(emergency_handler)
44
find_package(autoware_cmake REQUIRED)
55
autoware_package()
66

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

11+
rclcpp_components_register_node(${PROJECT_NAME}
12+
PLUGIN "EmergencyHandler"
13+
EXECUTABLE ${PROJECT_NAME}_node
14+
EXECUTOR MultiThreadedExecutor
15+
)
16+
1217
ament_auto_package(INSTALL_TO_SHARE
1318
launch
1419
config

system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -53,7 +53,7 @@ struct Param
5353
class EmergencyHandler : public rclcpp::Node
5454
{
5555
public:
56-
EmergencyHandler();
56+
explicit EmergencyHandler(const rclcpp::NodeOptions & options);
5757

5858
private:
5959
// Subscribers

system/emergency_handler/launch/emergency_handler.launch.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -16,7 +16,7 @@
1616
<arg name="config_file" default="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml"/>
1717

1818
<!-- emergency_handler -->
19-
<node pkg="emergency_handler" exec="emergency_handler" name="emergency_handler" output="screen">
19+
<node pkg="emergency_handler" exec="emergency_handler_node" name="emergency_handler" output="screen">
2020
<remap from="~/input/hazard_status" to="$(var input_hazard_status)"/>
2121
<remap from="~/input/prev_control_command" to="$(var input_prev_control_command)"/>
2222
<remap from="~/input/odometry" to="$(var input_odometry)"/>

system/emergency_handler/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -18,6 +18,7 @@
1818
<depend>autoware_auto_vehicle_msgs</depend>
1919
<depend>nav_msgs</depend>
2020
<depend>rclcpp</depend>
21+
<depend>rclcpp_components</depend>
2122
<depend>std_msgs</depend>
2223
<depend>std_srvs</depend>
2324
<depend>tier4_system_msgs</depend>

system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp

+5-1
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,8 @@
1818
#include <string>
1919
#include <utility>
2020

21-
EmergencyHandler::EmergencyHandler() : Node("emergency_handler")
21+
EmergencyHandler::EmergencyHandler(const rclcpp::NodeOptions & options)
22+
: Node("emergency_handler", options)
2223
{
2324
// Parameter
2425
param_.update_rate = declare_parameter<int>("update_rate");
@@ -459,3 +460,6 @@ bool EmergencyHandler::isStopped()
459460

460461
return false;
461462
}
463+
464+
#include <rclcpp_components/register_node_macro.hpp>
465+
RCLCPP_COMPONENTS_REGISTER_NODE(EmergencyHandler)

system/emergency_handler/src/emergency_handler/emergency_handler_node.cpp

-32
This file was deleted.

0 commit comments

Comments
 (0)