From b1e1361f307b8e2cfc81d33db923b03d60dafcab Mon Sep 17 00:00:00 2001
From: TetsuKawa <kawaguchitnon@icloud.com>
Date: Wed, 15 May 2024 14:10:30 +0900
Subject: [PATCH 1/4] feat: componentize-emergency-handler
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
---
system/emergency_handler/CMakeLists.txt | 9 ++++--
.../launch/emergency_handler.launch.xml | 2 +-
system/emergency_handler/package.xml | 1 +
.../emergency_handler_core.cpp | 3 ++
.../emergency_handler_node.cpp | 32 -------------------
5 files changed, 12 insertions(+), 35 deletions(-)
delete mode 100644 system/emergency_handler/src/emergency_handler/emergency_handler_node.cpp
diff --git a/system/emergency_handler/CMakeLists.txt b/system/emergency_handler/CMakeLists.txt
index b7895b07f6e4c..0475cdbe57dd8 100644
--- a/system/emergency_handler/CMakeLists.txt
+++ b/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 ${PROJECT_NAME}_node
+ EXECUTOR MultiThreadedExecutor
+)
+
ament_auto_package(INSTALL_TO_SHARE
launch
config
diff --git a/system/emergency_handler/launch/emergency_handler.launch.xml b/system/emergency_handler/launch/emergency_handler.launch.xml
index 308eaf90dbb69..203c13bd94e0a 100644
--- a/system/emergency_handler/launch/emergency_handler.launch.xml
+++ b/system/emergency_handler/launch/emergency_handler.launch.xml
@@ -16,7 +16,7 @@
<arg name="config_file" default="$(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)"/>
diff --git a/system/emergency_handler/package.xml b/system/emergency_handler/package.xml
index 10282297017b1..97344f9b8c594 100644
--- a/system/emergency_handler/package.xml
+++ b/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>
diff --git a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
index db3ad40249bfb..586318eb7c1ec 100644
--- a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
+++ b/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)
\ No newline at end of file
diff --git a/system/emergency_handler/src/emergency_handler/emergency_handler_node.cpp b/system/emergency_handler/src/emergency_handler/emergency_handler_node.cpp
deleted file mode 100644
index 5b60117cc3ff4..0000000000000
--- a/system/emergency_handler/src/emergency_handler/emergency_handler_node.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-// Copyright 2020 Tier IV, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-// http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "emergency_handler/emergency_handler_core.hpp"
-
-#include <rclcpp/rclcpp.hpp>
-
-#include <memory>
-
-int main(int argc, char ** argv)
-{
- rclcpp::init(argc, argv);
- rclcpp::executors::MultiThreadedExecutor executor;
- auto node = std::make_shared<EmergencyHandler>();
- executor.add_node(node);
- executor.spin();
- executor.remove_node(node);
- rclcpp::shutdown();
-
- return 0;
-}
From f9e579eae0e6b2f44c0f0db3797a3790e86bcc45 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 15 May 2024 05:30:52 +0000
Subject: [PATCH 2/4] style(pre-commit): autofix
---
.../src/emergency_handler/emergency_handler_core.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
index 586318eb7c1ec..b93d5faca6e32 100644
--- a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
+++ b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
@@ -461,4 +461,4 @@ bool EmergencyHandler::isStopped()
}
#include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(EmergencyHandler)
\ No newline at end of file
+RCLCPP_COMPONENTS_REGISTER_NODE(EmergencyHandler)
From fae3b6aa6eab8af30d38a38621deb76170a9f06c Mon Sep 17 00:00:00 2001
From: TetsuKawa <kawaguchitnon@icloud.com>
Date: Wed, 15 May 2024 16:41:17 +0900
Subject: [PATCH 3/4] feat: add an arg to the constructor
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
---
.../include/emergency_handler/emergency_handler_core.hpp | 2 +-
.../src/emergency_handler/emergency_handler_core.cpp | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp b/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp
index 5c76d96e573ab..a78b35be26daf 100644
--- a/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp
+++ b/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
diff --git a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
index 586318eb7c1ec..8e5c1e4e9fef7 100644
--- a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
+++ b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
@@ -18,7 +18,7 @@
#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");
From e7f77827420446cce396dc978cfa73815a8283be Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 15 May 2024 07:46:49 +0000
Subject: [PATCH 4/4] style(pre-commit): autofix
---
.../src/emergency_handler/emergency_handler_core.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
index 2e4057c0f918f..2770a14691d95 100644
--- a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
+++ b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
@@ -18,7 +18,8 @@
#include <string>
#include <utility>
-EmergencyHandler::EmergencyHandler(const rclcpp::NodeOptions & options) : Node("emergency_handler", options)
+EmergencyHandler::EmergencyHandler(const rclcpp::NodeOptions & options)
+: Node("emergency_handler", options)
{
// Parameter
param_.update_rate = declare_parameter<int>("update_rate");