feat(operation_mode_transition_manager): use polling subscriber (#7328)

RT1-6698 use polling subscriber

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Author: zulfaqar-azmi-t4

control/operation_mode_transition_manager/src/node.cpp

@@ -22,14 +22,6 @@ namespace operation_mode_transition_manager
 OperationModeTransitionManager::OperationModeTransitionManager(const rclcpp::NodeOptions & options)
 : Node("operation_mode_transition_manager", options), compatibility_(this)
 {
-  sub_control_mode_report_ = create_subscription<ControlModeReport>(
-    "control_mode_report", 1,
-    [this](const ControlModeReport::SharedPtr msg) { control_mode_report_ = *msg; });
-
-  sub_gate_operation_mode_ = create_subscription<OperationModeState>(
-    "gate_operation_mode", 1,
-    [this](const OperationModeState::SharedPtr msg) { gate_operation_mode_ = *msg; });
-
   cli_control_mode_ = create_client<ControlModeCommand>("control_mode_request");
   pub_debug_info_ = create_publisher<ModeChangeBase::DebugInfo>("~/debug_info", 1);
 
@@ -214,6 +206,9 @@ void OperationModeTransitionManager::processTransition()
 
 void OperationModeTransitionManager::onTimer()
 {
+  control_mode_report_ = *sub_control_mode_report_.takeData();
+  gate_operation_mode_ = *sub_gate_operation_mode_.takeData();
+
   for (const auto & [type, mode] : modes_) {
     mode->update(current_mode_ == type && transition_);
   }

control/operation_mode_transition_manager/src/node.hpp

@@ -21,10 +21,10 @@
 #include <component_interface_specs/system.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
 
 #include <memory>
 #include <unordered_map>
-#include <utility>
 
 namespace operation_mode_transition_manager
 {
@@ -49,8 +49,10 @@ class OperationModeTransitionManager : public rclcpp::Node
     const ChangeOperationModeAPI::Service::Response::SharedPtr response);
 
   using ControlModeCommandType = ControlModeCommand::Request::_mode_type;
-  rclcpp::Subscription<ControlModeReport>::SharedPtr sub_control_mode_report_;
-  rclcpp::Subscription<OperationModeState>::SharedPtr sub_gate_operation_mode_;
+  tier4_autoware_utils::InterProcessPollingSubscriber<ControlModeReport> sub_control_mode_report_{
+    this, "control_mode_report"};
+  tier4_autoware_utils::InterProcessPollingSubscriber<OperationModeState> sub_gate_operation_mode_{
+    this, "gate_operation_mode"};
   rclcpp::Client<ControlModeCommand>::SharedPtr cli_control_mode_;
   rclcpp::Publisher<ModeChangeBase::DebugInfo>::SharedPtr pub_debug_info_;
   rclcpp::TimerBase::SharedPtr timer_;