From 3e45f3748b86d3b7d3a2937c2b31a7a94d022410 Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <isamu.takagi@tier4.jp>
Date: Wed, 15 May 2024 18:16:50 +0900
Subject: [PATCH] feat(diagnostic_graph_aggregator): componentize node

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---
 .../diagnostic_graph_aggregator/CMakeLists.txt  | 17 +++++++++++------
 .../launch/aggregator.launch.xml                |  2 +-
 system/diagnostic_graph_aggregator/package.xml  |  1 +
 .../src/node/aggregator.cpp                     | 15 +++------------
 .../src/node/aggregator.hpp                     |  2 +-
 5 files changed, 17 insertions(+), 20 deletions(-)

diff --git a/system/diagnostic_graph_aggregator/CMakeLists.txt b/system/diagnostic_graph_aggregator/CMakeLists.txt
index 905cc07d81da1..4f18407e2a108 100644
--- a/system/diagnostic_graph_aggregator/CMakeLists.txt
+++ b/system/diagnostic_graph_aggregator/CMakeLists.txt
@@ -13,12 +13,6 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/common/graph/units.cpp
 )
 
-ament_auto_add_executable(aggregator
-  src/node/aggregator.cpp
-  src/node/availability.cpp
-)
-target_include_directories(aggregator PRIVATE src/common)
-
 ament_auto_add_executable(tree
   src/tool/tree.cpp
 )
@@ -29,6 +23,17 @@ ament_auto_add_executable(plantuml
 )
 target_include_directories(plantuml PRIVATE src/common)
 
+ament_auto_add_library(aggregator SHARED
+  src/node/aggregator.cpp
+  src/node/availability.cpp
+)
+target_include_directories(aggregator PRIVATE src/common)
+
+rclcpp_components_register_node(aggregator
+  PLUGIN "diagnostic_graph_aggregator::AggregatorNode"
+  EXECUTABLE aggregator_node
+)
+
 if(BUILD_TESTING)
   get_filename_component(RESOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/test/files ABSOLUTE)
   ament_auto_add_gtest(gtest_${PROJECT_NAME}
diff --git a/system/diagnostic_graph_aggregator/launch/aggregator.launch.xml b/system/diagnostic_graph_aggregator/launch/aggregator.launch.xml
index 272901a3f8045..c06c3d1d96cfa 100644
--- a/system/diagnostic_graph_aggregator/launch/aggregator.launch.xml
+++ b/system/diagnostic_graph_aggregator/launch/aggregator.launch.xml
@@ -1,7 +1,7 @@
 <launch>
   <arg name="param_file" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
   <arg name="graph_file"/>
-  <node pkg="diagnostic_graph_aggregator" exec="aggregator" name="aggregator">
+  <node pkg="diagnostic_graph_aggregator" exec="aggregator_node">
     <param from="$(var param_file)"/>
     <param name="graph_file" value="$(var graph_file)"/>
   </node>
diff --git a/system/diagnostic_graph_aggregator/package.xml b/system/diagnostic_graph_aggregator/package.xml
index 2a9efad2c0d6e..a89196f25a78d 100644
--- a/system/diagnostic_graph_aggregator/package.xml
+++ b/system/diagnostic_graph_aggregator/package.xml
@@ -12,6 +12,7 @@
 
   <depend>diagnostic_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>tier4_system_msgs</depend>
   <depend>yaml_cpp_vendor</depend>
 
diff --git a/system/diagnostic_graph_aggregator/src/node/aggregator.cpp b/system/diagnostic_graph_aggregator/src/node/aggregator.cpp
index 3287d30d4de18..4d2ec73bfceca 100644
--- a/system/diagnostic_graph_aggregator/src/node/aggregator.cpp
+++ b/system/diagnostic_graph_aggregator/src/node/aggregator.cpp
@@ -21,7 +21,7 @@
 namespace diagnostic_graph_aggregator
 {
 
-AggregatorNode::AggregatorNode() : Node("aggregator")
+AggregatorNode::AggregatorNode(const rclcpp::NodeOptions & options) : Node("aggregator", options)
 {
   const auto stamp = now();
 
@@ -99,14 +99,5 @@ void AggregatorNode::on_diag(const DiagnosticArray & msg)
 
 }  // namespace diagnostic_graph_aggregator
 
-int main(int argc, char ** argv)
-{
-  using diagnostic_graph_aggregator::AggregatorNode;
-  rclcpp::init(argc, argv);
-  rclcpp::executors::SingleThreadedExecutor executor;
-  auto node = std::make_shared<AggregatorNode>();
-  executor.add_node(node);
-  executor.spin();
-  executor.remove_node(node);
-  rclcpp::shutdown();
-}
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(diagnostic_graph_aggregator::AggregatorNode)
diff --git a/system/diagnostic_graph_aggregator/src/node/aggregator.hpp b/system/diagnostic_graph_aggregator/src/node/aggregator.hpp
index 8a0e12edb25e5..f71780f19a5c7 100644
--- a/system/diagnostic_graph_aggregator/src/node/aggregator.hpp
+++ b/system/diagnostic_graph_aggregator/src/node/aggregator.hpp
@@ -30,7 +30,7 @@ namespace diagnostic_graph_aggregator
 class AggregatorNode : public rclcpp::Node
 {
 public:
-  AggregatorNode();
+  explicit AggregatorNode(const rclcpp::NodeOptions & options);
   ~AggregatorNode();
 
 private: