feat(map_projection_loader): componentize MapProjectionLoader

map/map_projection_loader/CMakeLists.txt

@@ -6,25 +6,24 @@ autoware_package()
 
 ament_auto_find_build_dependencies()
 
-ament_auto_add_library(map_projection_loader_lib SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/map_projection_loader.cpp
   src/load_info_from_lanelet2_map.cpp
 )
 
-target_link_libraries(map_projection_loader_lib yaml-cpp)
-
-ament_auto_add_executable(map_projection_loader src/map_projection_loader_node.cpp)
-
-target_compile_options(map_projection_loader PUBLIC -g -Wall -Wextra -Wpedantic -Werror)
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "MapProjectionLoader"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
+)
 
-target_link_libraries(map_projection_loader map_projection_loader_lib)
-target_include_directories(map_projection_loader PUBLIC include)
+target_link_libraries(${PROJECT_NAME} yaml-cpp)
 
 function(add_testcase filepath)
   get_filename_component(filename ${filepath} NAME)
   string(REGEX REPLACE ".cpp" "" test_name ${filename})
   ament_add_gmock(${test_name} ${filepath})
-  target_link_libraries("${test_name}" map_projection_loader_lib)
+  target_link_libraries("${test_name}" ${PROJECT_NAME})
   ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS})
 endfunction()
 
@@ -57,7 +56,8 @@ if(BUILD_TESTING)
   add_testcase(test/test_load_info_from_lanelet2_map.cpp)
 endif()
 
-ament_auto_package(INSTALL_TO_SHARE
+ament_auto_package(
+  INSTALL_TO_SHARE
   launch
   config
 )

map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp

@@ -29,7 +29,7 @@ tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info(
 class MapProjectionLoader : public rclcpp::Node
 {
 public:
-  MapProjectionLoader();
+  explicit MapProjectionLoader(const rclcpp::NodeOptions & options);
 
 private:
   using MapProjectorInfo = map_interface::MapProjectorInfo;

map/map_projection_loader/launch/map_projection_loader.launch.xml

@@ -4,7 +4,7 @@
   <arg name="map_projector_info_path" description="Path to the yaml file"/>
   <arg name="lanelet2_map_path" description="Path to the lanelet2 map file"/>
 
-  <node pkg="map_projection_loader" exec="map_projection_loader" name="map_projection_loader" output="screen">
+  <node pkg="map_projection_loader" exec="map_projection_loader_node" output="both">
     <param from="$(var param_path)" allow_substs="true"/>
   </node>
 </launch>

map/map_projection_loader/package.xml

@@ -21,6 +21,7 @@
   <depend>component_interface_utils</depend>
   <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>tier4_map_msgs</depend>
   <depend>yaml-cpp</depend>
 

map/map_projection_loader/src/map_projection_loader.cpp

@@ -82,7 +82,8 @@ tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info(
   return msg;
 }
 
-MapProjectionLoader::MapProjectionLoader() : Node("map_projection_loader")
+MapProjectionLoader::MapProjectionLoader(const rclcpp::NodeOptions & options)
+: rclcpp::Node("map_projection_loader", options)
 {
   const std::string yaml_filename = this->declare_parameter<std::string>("map_projector_info_path");
   const std::string lanelet2_map_filename =
@@ -96,3 +97,6 @@ MapProjectionLoader::MapProjectionLoader() : Node("map_projection_loader")
   adaptor.init_pub(publisher_);
   publisher_->publish(msg);
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(MapProjectionLoader)