feat: componentize-emergency-handler

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>

Author: TetsuKawa

system/emergency_handler/CMakeLists.txt

@@ -4,11 +4,16 @@ project(emergency_handler)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(emergency_handler
-  src/emergency_handler/emergency_handler_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/emergency_handler/emergency_handler_core.cpp
 )
 
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "EmergencyHandler"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR MultiThreadedExecutor
+)
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
   config

system/emergency_handler/launch/emergency_handler.launch.xml

@@ -16,7 +16,7 @@
   <arg name="config_file" default="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml"/>
 
   <!-- emergency_handler -->
-  <node pkg="emergency_handler" exec="emergency_handler" name="emergency_handler" output="screen">
+  <node pkg="emergency_handler" exec="emergency_handler_node" name="emergency_handler" output="screen">
     <remap from="~/input/hazard_status" to="$(var input_hazard_status)"/>
     <remap from="~/input/prev_control_command" to="$(var input_prev_control_command)"/>
     <remap from="~/input/odometry" to="$(var input_odometry)"/>

system/emergency_handler/package.xml

@@ -18,6 +18,7 @@
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
   <depend>tier4_system_msgs</depend>

system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp

@@ -459,3 +459,6 @@ bool EmergencyHandler::isStopped()
 
   return false;
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(EmergencyHandler)