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feat(automatic_pose_initializer): componentize node #7021

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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,14 @@ project(automatic_pose_initializer)
find_package(autoware_cmake REQUIRED)
autoware_package()

ament_auto_add_executable(automatic_pose_initializer
ament_auto_add_library(${PROJECT_NAME} SHARED
src/automatic_pose_initializer.cpp
)

rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "ServiceLogChecker"
EXECUTABLE ${PROJECT_NAME}_node
EXECUTOR MultiThreadedExecutor
)

ament_auto_package(INSTALL_TO_SHARE launch)
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<launch>
<group>
<push-ros-namespace namespace="default_ad_api/helpers"/>
<node pkg="automatic_pose_initializer" exec="automatic_pose_initializer" name="automatic_pose_initializer"/>
<node pkg="automatic_pose_initializer" exec="automatic_pose_initializer_node"/>
</group>
</launch>
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
<depend>autoware_adapi_v1_msgs</depend>
<depend>component_interface_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,8 @@
namespace automatic_pose_initializer
{

AutomaticPoseInitializer::AutomaticPoseInitializer() : Node("automatic_pose_initializer")
AutomaticPoseInitializer::AutomaticPoseInitializer(const rclcpp::NodeOptions & options)
: Node("automatic_pose_initializer", options)
{
const auto adaptor = component_interface_utils::NodeAdaptor(this);
group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
Expand Down Expand Up @@ -48,13 +49,5 @@ void AutomaticPoseInitializer::on_timer()

} // namespace automatic_pose_initializer

int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
rclcpp::executors::MultiThreadedExecutor executor;
auto node = std::make_shared<automatic_pose_initializer::AutomaticPoseInitializer>();
executor.add_node(node);
executor.spin();
executor.remove_node(node);
rclcpp::shutdown();
}
#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(automatic_pose_initializer::AutomaticPoseInitializer)
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ namespace automatic_pose_initializer
class AutomaticPoseInitializer : public rclcpp::Node
{
public:
AutomaticPoseInitializer();
explicit AutomaticPoseInitializer(const rclcpp::NodeOptions & options);

private:
void on_timer();
Expand Down
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