feat: componentize-emergency-handler (#7017)

* feat: componentize-emergency-handler

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

* style(pre-commit): autofix

* feat: add an arg to the constructor

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

* style(pre-commit): autofix

---------

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.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/include/emergency_handler/emergency_handler_core.hpp

@@ -53,7 +53,7 @@ struct Param
 class EmergencyHandler : public rclcpp::Node
 {
 public:
-  EmergencyHandler();
+  explicit EmergencyHandler(const rclcpp::NodeOptions & options);
 
 private:
   // Subscribers

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

@@ -18,7 +18,8 @@
 #include <string>
 #include <utility>
 
-EmergencyHandler::EmergencyHandler() : Node("emergency_handler")
+EmergencyHandler::EmergencyHandler(const rclcpp::NodeOptions & options)
+: Node("emergency_handler", options)
 {
   // Parameter
   param_.update_rate = declare_parameter<int>("update_rate");
@@ -459,3 +460,6 @@ bool EmergencyHandler::isStopped()
 
   return false;
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(EmergencyHandler)