feat(ndt_scan_matcher): componentize NDTScanMatcher

localization/ndt_scan_matcher/CMakeLists.txt

@@ -22,20 +22,24 @@ else()
   endif()
 endif()
 
-find_package(glog REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common io registration)
 include_directories(${PCL_INCLUDE_DIRS})
 
-ament_auto_add_executable(ndt_scan_matcher
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/diagnostics_module.cpp
   src/map_update_module.cpp
   src/ndt_scan_matcher_core.cpp
-  src/ndt_scan_matcher_node.cpp
   src/particle.cpp
 )
 
 link_directories(${PCL_LIBRARY_DIRS})
-target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES} glog::glog)
+target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES})
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "NDTScanMatcher"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR MultiThreadedExecutor
+)
 
 if(BUILD_TESTING)
   add_launch_test(
@@ -46,19 +50,9 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   ament_auto_add_gtest(standard_sequence_for_initial_pose_estimation
     test/test_cases/standard_sequence_for_initial_pose_estimation.cpp
-    src/diagnostics_module.cpp
-    src/map_update_module.cpp
-    src/ndt_scan_matcher_core.cpp
-#    src/ndt_scan_matcher_node.cpp
-    src/particle.cpp
   )
   ament_auto_add_gtest(once_initialize_at_out_of_map_then_initialize_correctly
     test/test_cases/once_initialize_at_out_of_map_then_initialize_correctly.cpp
-    src/diagnostics_module.cpp
-    src/map_update_module.cpp
-    src/ndt_scan_matcher_core.cpp
-#    src/ndt_scan_matcher_node.cpp
-    src/particle.cpp
   )
 endif()
 

localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml

@@ -14,7 +14,7 @@
 
   <arg name="node_name" default="ndt_scan_matcher" description="Use a different name for this node"/>
 
-  <node pkg="ndt_scan_matcher" exec="ndt_scan_matcher" name="$(var node_name)" output="log">
+  <node pkg="ndt_scan_matcher" exec="ndt_scan_matcher_node" name="$(var node_name)" output="both">
     <remap from="points_raw" to="$(var input_pointcloud)"/>
     <remap from="ekf_pose_with_covariance" to="$(var input_initial_pose_topic)"/>
     <remap from="regularization_pose_with_covariance" to="$(var input_regularization_pose_topic)"/>

localization/ndt_scan_matcher/package.xml

@@ -29,6 +29,7 @@
   <depend>ndt_omp</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>

localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp

@@ -1069,3 +1069,6 @@ geometry_msgs::msg::PoseWithCovarianceStamped NDTScanMatcher::align_pose(
 
   return result_pose_with_cov_msg;
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(NDTScanMatcher)