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refactor(gyro_odometer): componentize node in gyro_odometer #7090

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merged 3 commits into from
May 24, 2024
Merged

refactor(gyro_odometer): componentize node in gyro_odometer #7090

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31db20e
refactor: install glog to gyro_odometer
Motsu-san May 22, 2024
f7ab217
style(pre-commit): autofix
pre-commit-ci[bot] May 22, 2024
e77370a
feat: change glog error setting
Motsu-san May 24, 2024
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14 changes: 7 additions & 7 deletions localization/gyro_odometer/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,17 +4,12 @@ project(gyro_odometer)
find_package(autoware_cmake REQUIRED)
autoware_package()

ament_auto_add_executable(${PROJECT_NAME}
src/gyro_odometer_node.cpp
ament_auto_add_library(${PROJECT_NAME} SHARED
src/gyro_odometer_core.cpp
)

target_link_libraries(${PROJECT_NAME} fmt)

ament_auto_add_library(gyro_odometer_node SHARED
src/gyro_odometer_core.cpp
)

if(BUILD_TESTING)
ament_add_ros_isolated_gtest(test_gyro_odometer
test/test_main.cpp
Expand All @@ -25,10 +20,15 @@ if(BUILD_TESTING)
rclcpp
)
target_link_libraries(test_gyro_odometer
gyro_odometer_node
${PROJECT_NAME}
)
endif()

rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "autoware::gyro_odometer::GyroOdometerNode"
EXECUTABLE ${PROJECT_NAME}_node
EXECUTOR SingleThreadedExecutor
)

ament_auto_package(INSTALL_TO_SHARE
launch
Expand Down
11 changes: 8 additions & 3 deletions localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,14 +36,17 @@
#include <memory>
#include <string>

class GyroOdometer : public rclcpp::Node
namespace autoware::gyro_odometer
{

class GyroOdometerNode : public rclcpp::Node
{
private:
using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX;

public:
explicit GyroOdometer(const rclcpp::NodeOptions & options);
~GyroOdometer();
explicit GyroOdometerNode(const rclcpp::NodeOptions & node_options);
~GyroOdometerNode();

private:
void callbackVehicleTwist(
Expand Down Expand Up @@ -75,4 +78,6 @@ class GyroOdometer : public rclcpp::Node
std::deque<sensor_msgs::msg::Imu> gyro_queue_;
};

} // namespace autoware::gyro_odometer

#endif // GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_
2 changes: 1 addition & 1 deletion localization/gyro_odometer/launch/gyro_odometer.launch.xml
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Expand Up @@ -11,7 +11,7 @@

<arg name="config_file" default="$(find-pkg-share gyro_odometer)/config/gyro_odometer.param.yaml"/>

<node pkg="gyro_odometer" exec="gyro_odometer" name="gyro_odometer" output="screen">
<node pkg="gyro_odometer" exec="gyro_odometer_node" output="both">
<remap from="vehicle/twist_with_covariance" to="$(var input_vehicle_twist_with_covariance_topic)"/>

<remap from="imu" to="$(var input_imu_topic)"/>
Expand Down
5 changes: 2 additions & 3 deletions localization/gyro_odometer/package.xml
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Expand Up @@ -19,14 +19,13 @@

<depend>fmt</depend>
<depend>geometry_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>sensor_msgs</depend>
<depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tier4_autoware_utils</depend>

<exec_depend>rclcpp</exec_depend>
<exec_depend>rclcpp_components</exec_depend>

<test_depend>ament_cmake_ros</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
Expand Down
81 changes: 46 additions & 35 deletions localization/gyro_odometer/src/gyro_odometer_core.cpp
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Expand Up @@ -14,6 +14,8 @@

#include "gyro_odometer/gyro_odometer_core.hpp"

#include <rclcpp/rclcpp.hpp>

#ifdef ROS_DISTRO_GALACTIC
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#else
Expand All @@ -25,6 +27,42 @@
#include <memory>
#include <string>

namespace autoware::gyro_odometer
{

GyroOdometerNode::GyroOdometerNode(const rclcpp::NodeOptions & node_options)
: Node("gyro_odometer", node_options),
output_frame_(declare_parameter<std::string>("output_frame")),
message_timeout_sec_(declare_parameter<double>("message_timeout_sec")),
vehicle_twist_arrived_(false),
imu_arrived_(false)
{
transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);

vehicle_twist_sub_ = create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>(
"vehicle/twist_with_covariance", rclcpp::QoS{100},
std::bind(&GyroOdometerNode::callbackVehicleTwist, this, std::placeholders::_1));

imu_sub_ = create_subscription<sensor_msgs::msg::Imu>(
"imu", rclcpp::QoS{100},
std::bind(&GyroOdometerNode::callbackImu, this, std::placeholders::_1));

twist_raw_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist_raw", rclcpp::QoS{10});
twist_with_covariance_raw_pub_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
"twist_with_covariance_raw", rclcpp::QoS{10});

twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist", rclcpp::QoS{10});
twist_with_covariance_pub_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
"twist_with_covariance", rclcpp::QoS{10});

// TODO(YamatoAndo) createTimer
}

GyroOdometerNode::~GyroOdometerNode()
{
}

std::array<double, 9> transformCovariance(const std::array<double, 9> & cov)
{
using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX;
Expand Down Expand Up @@ -100,39 +138,7 @@ geometry_msgs::msg::TwistWithCovarianceStamped concatGyroAndOdometer(
return twist_with_cov;
}

GyroOdometer::GyroOdometer(const rclcpp::NodeOptions & options)
: Node("gyro_odometer", options),
output_frame_(declare_parameter<std::string>("output_frame")),
message_timeout_sec_(declare_parameter<double>("message_timeout_sec")),
vehicle_twist_arrived_(false),
imu_arrived_(false)
{
transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);

vehicle_twist_sub_ = create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>(
"vehicle/twist_with_covariance", rclcpp::QoS{100},
std::bind(&GyroOdometer::callbackVehicleTwist, this, std::placeholders::_1));

imu_sub_ = create_subscription<sensor_msgs::msg::Imu>(
"imu", rclcpp::QoS{100}, std::bind(&GyroOdometer::callbackImu, this, std::placeholders::_1));

twist_raw_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist_raw", rclcpp::QoS{10});
twist_with_covariance_raw_pub_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
"twist_with_covariance_raw", rclcpp::QoS{10});

twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist", rclcpp::QoS{10});
twist_with_covariance_pub_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
"twist_with_covariance", rclcpp::QoS{10});

// TODO(YamatoAndo) createTimer
}

GyroOdometer::~GyroOdometer()
{
}

void GyroOdometer::callbackVehicleTwist(
void GyroOdometerNode::callbackVehicleTwist(
const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr vehicle_twist_ptr)
{
vehicle_twist_arrived_ = true;
Expand Down Expand Up @@ -173,7 +179,7 @@ void GyroOdometer::callbackVehicleTwist(
gyro_queue_.clear();
}

void GyroOdometer::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr)
void GyroOdometerNode::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr)
{
imu_arrived_ = true;
if (!vehicle_twist_arrived_) {
Expand Down Expand Up @@ -241,7 +247,7 @@ void GyroOdometer::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_m
gyro_queue_.clear();
}

void GyroOdometer::publishData(
void GyroOdometerNode::publishData(
const geometry_msgs::msg::TwistWithCovarianceStamped & twist_with_cov_raw)
{
geometry_msgs::msg::TwistStamped twist_raw;
Expand Down Expand Up @@ -269,3 +275,8 @@ void GyroOdometer::publishData(
twist_pub_->publish(twist);
twist_with_covariance_pub_->publish(twist_with_covariance);
}

} // namespace autoware::gyro_odometer

#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(autoware::gyro_odometer::GyroOdometerNode)
30 changes: 0 additions & 30 deletions localization/gyro_odometer/src/gyro_odometer_node.cpp
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This file was deleted.

6 changes: 4 additions & 2 deletions localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,7 +108,8 @@ TEST(GyroOdometer, TestGyroOdometerWithImuAndVelocity)
expected_output_twist.twist.twist.angular.y = input_imu.angular_velocity.y;
expected_output_twist.twist.twist.angular.z = input_imu.angular_velocity.z;

auto gyro_odometer_node = std::make_shared<GyroOdometer>(getNodeOptionsWithDefaultParams());
auto gyro_odometer_node =
std::make_shared<autoware::gyro_odometer::GyroOdometerNode>(getNodeOptionsWithDefaultParams());
auto imu_generator = std::make_shared<ImuGenerator>();
auto velocity_generator = std::make_shared<VelocityGenerator>();
auto gyro_odometer_validator_node = std::make_shared<GyroOdometerValidator>();
Expand All @@ -135,7 +136,8 @@ TEST(GyroOdometer, TestGyroOdometerImuOnly)
{
Imu input_imu = generateSampleImu();

auto gyro_odometer_node = std::make_shared<GyroOdometer>(getNodeOptionsWithDefaultParams());
auto gyro_odometer_node =
std::make_shared<autoware::gyro_odometer::GyroOdometerNode>(getNodeOptionsWithDefaultParams());
auto imu_generator = std::make_shared<ImuGenerator>();
auto gyro_odometer_validator_node = std::make_shared<GyroOdometerValidator>();

Expand Down
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