diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt index fb2c4d73554a3..4f9268583dd34 100644 --- a/perception/multi_object_tracker/CMakeLists.txt +++ b/perception/multi_object_tracker/CMakeLists.txt @@ -44,17 +44,18 @@ set(MULTI_OBJECT_TRACKER_SRC src/tracker/model/pass_through_tracker.cpp ) -ament_auto_add_library(multi_object_tracker_node SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED ${MULTI_OBJECT_TRACKER_SRC} ) -target_link_libraries(multi_object_tracker_node +target_link_libraries(${PROJECT_NAME} Eigen3::Eigen glog::glog ) -ament_auto_add_executable(${PROJECT_NAME} - src/multi_object_tracker_node.cpp +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "multi_object_tracker::MultiObjectTracker" + EXECUTABLE ${PROJECT_NAME}_node ) ament_auto_package(INSTALL_TO_SHARE diff --git a/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml b/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml index 526ce23efd33b..b00ccd8fa623e 100644 --- a/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml +++ b/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml @@ -6,7 +6,7 @@ - + diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp index c3bf7023fb068..54c23d39f5357 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp @@ -75,6 +75,12 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) tf_listener_(tf_buffer_), last_published_time_(this->now()) { + // glog for debug + if (!google::IsGoogleLoggingInitialized()) { + google::InitGoogleLogging("multi_object_tracker"); + google::InstallFailureSignalHandler(); + } + // Get parameters double publish_rate = declare_parameter("publish_rate"); // [hz] world_frame_id_ = declare_parameter("world_frame_id"); diff --git a/perception/multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/multi_object_tracker/src/multi_object_tracker_node.cpp deleted file mode 100644 index 273e6ac1a06bd..0000000000000 --- a/perception/multi_object_tracker/src/multi_object_tracker_node.cpp +++ /dev/null @@ -1,36 +0,0 @@ -// Copyright 2024 TIER IV, inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "multi_object_tracker/multi_object_tracker_core.hpp" - -#include - -#include - -int main(int argc, char ** argv) -{ - if (!google::IsGoogleLoggingInitialized()) { - google::InitGoogleLogging(argv[0]); // NOLINT - google::InstallFailureSignalHandler(); - } - - rclcpp::init(argc, argv); - rclcpp::NodeOptions options; - auto multi_object_tracker = std::make_shared(options); - rclcpp::executors::SingleThreadedExecutor exec; - exec.add_node(multi_object_tracker); - exec.spin(); - rclcpp::shutdown(); - return 0; -}