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>

Author: a-maumau

localization/geo_pose_projector/CMakeLists.txt

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

localization/geo_pose_projector/launch/geo_pose_projector.launch.xml

@@ -4,7 +4,7 @@
   <arg name="output_pose" default="/pose_with_covariance"/>
   <arg name="param_path" default="$(find-pkg-share geo_pose_projector)/config/geo_pose_projector.param.yaml"/>
 
-  <node pkg="geo_pose_projector" exec="geo_pose_projector" name="geo_pose_projector" output="screen">
+  <node pkg="geo_pose_projector" exec="geo_pose_projector_node" output="both">
     <remap from="input_geo_pose" to="$(var input_geo_pose)"/>
     <remap from="output_pose" to="$(var output_pose)"/>
 

localization/geo_pose_projector/package.xml

@@ -24,6 +24,7 @@
   <depend>geography_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
 

localization/geo_pose_projector/src/geo_pose_projector.cpp

@@ -25,8 +25,8 @@
 
 #include <string>
 
-GeoPoseProjector::GeoPoseProjector()
-: Node("geo_pose_projector"), publish_tf_(declare_parameter<bool>("publish_tf"))
+GeoPoseProjector::GeoPoseProjector(const rclcpp::NodeOptions & options)
+: rclcpp::Node("geo_pose_projector", options), publish_tf_(declare_parameter<bool>("publish_tf"))
 {
   // Subscribe to map_projector_info topic
   const auto adaptor = component_interface_utils::NodeAdaptor(this);
@@ -102,3 +102,6 @@ void GeoPoseProjector::on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr m
     tf_broadcaster_->sendTransform(transform_stamped);
   }
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(GeoPoseProjector)

localization/geo_pose_projector/src/geo_pose_projector.hpp

@@ -36,7 +36,7 @@ class GeoPoseProjector : public rclcpp::Node
   using MapProjectorInfo = map_interface::MapProjectorInfo;
 
 public:
-  GeoPoseProjector();
+  explicit GeoPoseProjector(const rclcpp::NodeOptions & options);
 
 private:
   void on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr msg);