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feat(pose_instability_detector): componentize PoseInstabilityDetector #7114

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merged 3 commits into from
May 24, 2024
Merged

feat(pose_instability_detector): componentize PoseInstabilityDetector #7114

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60f6632
remove unusing main func file
a-maumau May 24, 2024
18d0f5c
mod to componentize and use glog
a-maumau May 24, 2024
22dc9fb
change log output from log to both
a-maumau May 24, 2024
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15 changes: 10 additions & 5 deletions localization/pose_instability_detector/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,21 +4,26 @@ project(pose_instability_detector)
find_package(autoware_cmake REQUIRED)
autoware_package()

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

rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "PoseInstabilityDetector"
EXECUTABLE ${PROJECT_NAME}_node
EXECUTOR SingleThreadedExecutor
)

if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
ament_auto_add_gtest(test_pose_instability_detector
ament_auto_add_gtest(test_${PROJECT_NAME}
test/test.cpp
src/pose_instability_detector.cpp
)
endif()

ament_auto_package(
INSTALL_TO_SHARE
launch
config
launch
config
)
2 changes: 1 addition & 1 deletion localization/pose_instability_detector/launch/pose_instability_detector.launch.xml
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Expand Up @@ -6,7 +6,7 @@
<arg name="input_odometry" default="~/input/odometry"/>
<arg name="input_twist" default="~/input/twist"/>

<node pkg="pose_instability_detector" exec="pose_instability_detector" name="$(var node_name)" output="log">
<node pkg="pose_instability_detector" exec="pose_instability_detector_node" name="$(var node_name)" output="both">
<remap from="~/input/odometry" to="$(var input_odometry)"/>
<remap from="~/input/twist" to="$(var input_twist)"/>
<param from="$(var param_file)"/>
Expand Down
1 change: 1 addition & 0 deletions localization/pose_instability_detector/package.xml
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Expand Up @@ -22,6 +22,7 @@
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tier4_autoware_utils</depend>
Expand Down
26 changes: 0 additions & 26 deletions localization/pose_instability_detector/src/main.cpp
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This file was deleted.

5 changes: 4 additions & 1 deletion localization/pose_instability_detector/src/pose_instability_detector.cpp
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Expand Up @@ -23,7 +23,7 @@
#include <string>

PoseInstabilityDetector::PoseInstabilityDetector(const rclcpp::NodeOptions & options)
: Node("pose_instability_detector", options),
: rclcpp::Node("pose_instability_detector", options),
threshold_diff_position_x_(this->declare_parameter<double>("threshold_diff_position_x")),
threshold_diff_position_y_(this->declare_parameter<double>("threshold_diff_position_y")),
threshold_diff_position_z_(this->declare_parameter<double>("threshold_diff_position_z")),
Expand Down Expand Up @@ -174,3 +174,6 @@ void PoseInstabilityDetector::callback_timer()
prev_odometry_ = latest_odometry_;
twist_buffer_.clear();
}

#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(PoseInstabilityDetector)
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