feat(ad_api_adaptors): componentize nodes (#7022)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Author: isamu-takagi

system/default_ad_api_helpers/ad_api_adaptors/CMakeLists.txt

@@ -4,12 +4,21 @@ project(ad_api_adaptors)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(initial_pose_adaptor
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/initial_pose_adaptor.cpp
+  src/routing_adaptor.cpp
 )
 
-ament_auto_add_executable(routing_adaptor
-  src/routing_adaptor.cpp
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "ad_api_adaptors::InitialPoseAdaptor"
+  EXECUTABLE initial_pose_adaptor_node
+  EXECUTOR MultiThreadedExecutor
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "ad_api_adaptors::RoutingAdaptor"
+  EXECUTABLE routing_adaptor_node
+  EXECUTOR SingleThreadedExecutor
 )
 
 ament_auto_package(INSTALL_TO_SHARE config launch)

system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml

@@ -3,7 +3,7 @@
 
   <group>
     <push-ros-namespace namespace="default_ad_api/helpers"/>
-    <node pkg="ad_api_adaptors" exec="initial_pose_adaptor" name="initial_pose_adaptor">
+    <node pkg="ad_api_adaptors" exec="initial_pose_adaptor_node">
       <param from="$(find-pkg-share ad_api_adaptors)/config/initial_pose.param.yaml"/>
       <param name="map_height_fitter.map_loader_name" value="/map/pointcloud_map_loader"/>
       <param name="map_height_fitter.target" value="$(var rviz_initial_pose_auto_fix_target)"/>
@@ -12,7 +12,7 @@
       <remap from="~/partial_map_load" to="/map/get_partial_pointcloud_map"/>
       <remap from="~/vector_map" to="/map/vector_map"/>
     </node>
-    <node pkg="ad_api_adaptors" exec="routing_adaptor" name="routing_adaptor">
+    <node pkg="ad_api_adaptors" exec="routing_adaptor_node">
       <remap from="~/input/fixed_goal" to="/planning/mission_planning/goal"/>
       <remap from="~/input/rough_goal" to="/rviz/routing/rough_goal"/>
       <remap from="~/input/reroute" to="/rviz/routing/reroute"/>

system/default_ad_api_helpers/ad_api_adaptors/package.xml

@@ -17,6 +17,7 @@
   <depend>component_interface_utils</depend>
   <depend>map_height_fitter</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp

@@ -34,7 +34,8 @@ std::array<double, 36> get_covariance_parameter(rclcpp::Node * node, const std::
   return array;
 }
 
-InitialPoseAdaptor::InitialPoseAdaptor() : Node("initial_pose_adaptor"), fitter_(this)
+InitialPoseAdaptor::InitialPoseAdaptor(const rclcpp::NodeOptions & options)
+: Node("initial_pose_adaptor", options), fitter_(this)
 {
   rviz_particle_covariance_ = get_covariance_parameter(this, "initial_pose_particle_covariance");
   sub_initial_pose_ = create_subscription<PoseWithCovarianceStamped>(
@@ -61,13 +62,5 @@ void InitialPoseAdaptor::on_initial_pose(const PoseWithCovarianceStamped::ConstS
 
 }  // namespace ad_api_adaptors
 
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  rclcpp::executors::MultiThreadedExecutor executor;
-  auto node = std::make_shared<ad_api_adaptors::InitialPoseAdaptor>();
-  executor.add_node(node);
-  executor.spin();
-  executor.remove_node(node);
-  rclcpp::shutdown();
-}
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::InitialPoseAdaptor)

system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp

@@ -28,7 +28,7 @@ namespace ad_api_adaptors
 class InitialPoseAdaptor : public rclcpp::Node
 {
 public:
-  InitialPoseAdaptor();
+  explicit InitialPoseAdaptor(const rclcpp::NodeOptions & options);
 
 private:
   using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped;

system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp

@@ -19,7 +19,8 @@
 namespace ad_api_adaptors
 {
 
-RoutingAdaptor::RoutingAdaptor() : Node("routing_adaptor")
+RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options)
+: Node("routing_adaptor", options)
 {
   using std::placeholders::_1;
 
@@ -110,13 +111,5 @@ void RoutingAdaptor::on_reroute(const PoseStamped::ConstSharedPtr pose)
 
 }  // namespace ad_api_adaptors
 
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  rclcpp::executors::SingleThreadedExecutor executor;
-  auto node = std::make_shared<ad_api_adaptors::RoutingAdaptor>();
-  executor.add_node(node);
-  executor.spin();
-  executor.remove_node(node);
-  rclcpp::shutdown();
-}
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::RoutingAdaptor)

system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp

@@ -29,7 +29,7 @@ namespace ad_api_adaptors
 class RoutingAdaptor : public rclcpp::Node
 {
 public:
-  RoutingAdaptor();
+  explicit RoutingAdaptor(const rclcpp::NodeOptions & options);
 
 private:
   using PoseStamped = geometry_msgs::msg::PoseStamped;