feat(diagnostic_graph_aggregator): componentize node

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}

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>

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>
 

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)

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: