feat: componentize-system_error_monitor

system/system_error_monitor/CMakeLists.txt

@@ -4,11 +4,14 @@ project(system_error_monitor)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(${PROJECT_NAME}
-  src/system_error_monitor_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/system_error_monitor_core.cpp
 )
 
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "AutowareErrorMonitor"
+  EXECUTABLE ${PROJECT_NAME}_node)
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
   config

system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp

@@ -64,7 +64,7 @@ struct KeyName
 class AutowareErrorMonitor : public rclcpp::Node
 {
 public:
-  AutowareErrorMonitor();
+  explicit AutowareErrorMonitor(const rclcpp::NodeOptions & options);
 
 private:
   // Parameter

system/system_error_monitor/launch/system_error_monitor_node.launch.xml

@@ -11,7 +11,7 @@
 
   <arg name="emergency_hazard_level" default="2" description="1: Safe Fault, 2: Latent Fault, 3: Single Point Fault"/>
 
-  <node pkg="system_error_monitor" exec="system_error_monitor" name="system_error_monitor" output="screen">
+  <node pkg="system_error_monitor" exec="system_error_monitor_node" name="system_error_monitor" output="screen">
     <remap from="input/diag_array" to="/diagnostics_agg"/>
     <remap from="~/input/autoware_state" to="/autoware/state"/>
     <remap from="~/input/current_gate_mode" to="/control/current_gate_mode"/>

system/system_error_monitor/package.xml

@@ -15,6 +15,7 @@
   <depend>diagnostic_msgs</depend>
   <depend>fmt</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>std_srvs</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_control_msgs</depend>

system/system_error_monitor/src/system_error_monitor_core.cpp

@@ -202,10 +202,10 @@ int isInNoFaultCondition(
 }
 }  // namespace
 
-AutowareErrorMonitor::AutowareErrorMonitor()
+AutowareErrorMonitor::AutowareErrorMonitor(const rclcpp::NodeOptions & options)
 : Node(
     "system_error_monitor",
-    rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)),
+    rclcpp::NodeOptions(options).automatically_declare_parameters_from_overrides(true)),
   diag_array_stamp_(0, 0, this->get_clock()->get_clock_type()),
   autoware_state_stamp_(0, 0, this->get_clock()->get_clock_type()),
   current_gate_mode_stamp_(0, 0, this->get_clock()->get_clock_type()),
@@ -720,3 +720,6 @@ void AutowareErrorMonitor::loggingErrors(
       logger_name, get_clock(), 5000, "[Single Point Fault]: " + hazard_diag.message);
   }
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(AutowareErrorMonitor)