From 00efb7e54aeb64d2ceff697586f51078aed2d271 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Fri, 24 May 2024 16:55:05 +0900 Subject: [PATCH 1/3] Revert "chore(multi_object_tracker): change node and glog implementation (#6780)" This reverts commit 81c432e8110ca54acc5e6fc4a757eff87724c39b. Signed-off-by: Taekjin LEE --- .../multi_object_tracker/CMakeLists.txt | 5 +-- .../src/multi_object_tracker_core.cpp | 6 ++++ .../src/multi_object_tracker_node.cpp | 36 ------------------- 3 files changed, 9 insertions(+), 38 deletions(-) delete mode 100644 perception/multi_object_tracker/src/multi_object_tracker_node.cpp diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt index fb2c4d73554a3..ae61d2cb40024 100644 --- a/perception/multi_object_tracker/CMakeLists.txt +++ b/perception/multi_object_tracker/CMakeLists.txt @@ -53,8 +53,9 @@ target_link_libraries(multi_object_tracker_node glog::glog ) -ament_auto_add_executable(${PROJECT_NAME} - src/multi_object_tracker_node.cpp +rclcpp_components_register_node(multi_object_tracker_node + PLUGIN "multi_object_tracker::MultiObjectTracker" + EXECUTABLE multi_object_tracker ) ament_auto_package(INSTALL_TO_SHARE 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; -} From 3ce44b0f00f350e54e7d2157e91f72b7f981fe60 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Fri, 24 May 2024 17:07:58 +0900 Subject: [PATCH 2/3] fix: follow executable naming rule Signed-off-by: Taekjin LEE --- perception/multi_object_tracker/CMakeLists.txt | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt index ae61d2cb40024..4f9268583dd34 100644 --- a/perception/multi_object_tracker/CMakeLists.txt +++ b/perception/multi_object_tracker/CMakeLists.txt @@ -44,18 +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 ) -rclcpp_components_register_node(multi_object_tracker_node +rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "multi_object_tracker::MultiObjectTracker" - EXECUTABLE multi_object_tracker + EXECUTABLE ${PROJECT_NAME}_node ) ament_auto_package(INSTALL_TO_SHARE From ab0020dbbaf016bdf740e83f49fa704ca0afc2b4 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Fri, 24 May 2024 17:38:50 +0900 Subject: [PATCH 3/3] fix: update executable name Signed-off-by: Taekjin LEE --- .../multi_object_tracker/launch/multi_object_tracker.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 @@ - +