Skip to content

Commit f28a757

Browse files
authored
feat(geo_pose_projector): componentize GeoPoseProjector (#7138)
* 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 screen to both Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com> --------- Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
1 parent 967f4a7 commit f28a757

6 files changed

+15
-36
lines changed

localization/geo_pose_projector/CMakeLists.txt

+7-3
Original file line numberDiff line numberDiff line change
@@ -4,11 +4,15 @@ project(geo_pose_projector)
44
find_package(autoware_cmake REQUIRED)
55
autoware_package()
66

7-
ament_auto_add_executable(geo_pose_projector
8-
src/geo_pose_projector_node.cpp
7+
ament_auto_add_library(${PROJECT_NAME} SHARED
98
src/geo_pose_projector.cpp
109
)
11-
ament_target_dependencies(geo_pose_projector)
10+
11+
rclcpp_components_register_node(${PROJECT_NAME}
12+
PLUGIN "GeoPoseProjector"
13+
EXECUTABLE ${PROJECT_NAME}_node
14+
EXECUTOR SingleThreadedExecutor
15+
)
1216

1317
ament_auto_package(
1418
INSTALL_TO_SHARE

localization/geo_pose_projector/launch/geo_pose_projector.launch.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@
44
<arg name="output_pose" default="/pose_with_covariance"/>
55
<arg name="param_path" default="$(find-pkg-share geo_pose_projector)/config/geo_pose_projector.param.yaml"/>
66

7-
<node pkg="geo_pose_projector" exec="geo_pose_projector" name="geo_pose_projector" output="screen">
7+
<node pkg="geo_pose_projector" exec="geo_pose_projector_node" output="both">
88
<remap from="input_geo_pose" to="$(var input_geo_pose)"/>
99
<remap from="output_pose" to="$(var output_pose)"/>
1010

localization/geo_pose_projector/package.xml

+1
Original file line numberDiff line numberDiff line change
@@ -24,6 +24,7 @@
2424
<depend>geography_utils</depend>
2525
<depend>geometry_msgs</depend>
2626
<depend>rclcpp</depend>
27+
<depend>rclcpp_components</depend>
2728
<depend>tf2_geometry_msgs</depend>
2829
<depend>tf2_ros</depend>
2930

localization/geo_pose_projector/src/geo_pose_projector.cpp

+5-2
Original file line numberDiff line numberDiff line change
@@ -25,8 +25,8 @@
2525

2626
#include <string>
2727

28-
GeoPoseProjector::GeoPoseProjector()
29-
: Node("geo_pose_projector"), publish_tf_(declare_parameter<bool>("publish_tf"))
28+
GeoPoseProjector::GeoPoseProjector(const rclcpp::NodeOptions & options)
29+
: rclcpp::Node("geo_pose_projector", options), publish_tf_(declare_parameter<bool>("publish_tf"))
3030
{
3131
// Subscribe to map_projector_info topic
3232
const auto adaptor = component_interface_utils::NodeAdaptor(this);
@@ -102,3 +102,6 @@ void GeoPoseProjector::on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr m
102102
tf_broadcaster_->sendTransform(transform_stamped);
103103
}
104104
}
105+
106+
#include <rclcpp_components/register_node_macro.hpp>
107+
RCLCPP_COMPONENTS_REGISTER_NODE(GeoPoseProjector)

localization/geo_pose_projector/src/geo_pose_projector.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -36,7 +36,7 @@ class GeoPoseProjector : public rclcpp::Node
3636
using MapProjectorInfo = map_interface::MapProjectorInfo;
3737

3838
public:
39-
GeoPoseProjector();
39+
explicit GeoPoseProjector(const rclcpp::NodeOptions & options);
4040

4141
private:
4242
void on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr msg);

localization/geo_pose_projector/src/geo_pose_projector_node.cpp

-29
This file was deleted.

0 commit comments

Comments
 (0)