feat(twist2accel): componentize Twist2Accel

localization/twist2accel/CMakeLists.txt

@@ -4,11 +4,15 @@ project(twist2accel)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(twist2accel
-  src/twist2accel_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/twist2accel.cpp
 )
-ament_target_dependencies(twist2accel)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "Twist2Accel"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
+)
 
 ament_auto_package(
   INSTALL_TO_SHARE

localization/twist2accel/include/twist2accel/twist2accel.hpp

@@ -40,7 +40,7 @@
 class Twist2Accel : public rclcpp::Node
 {
 public:
-  Twist2Accel(const std::string & node_name, const rclcpp::NodeOptions & options);
+  explicit Twist2Accel(const rclcpp::NodeOptions & options);
 
 private:
   rclcpp::Publisher<geometry_msgs::msg::AccelWithCovarianceStamped>::SharedPtr

localization/twist2accel/launch/twist2accel.launch.xml

@@ -4,7 +4,7 @@
   <arg name="in_odom" default="in_odom"/>
   <arg name="in_twist" default="in_twist"/>
   <arg name="out_accel" default="out_accel"/>
-  <node pkg="twist2accel" exec="twist2accel" name="twist2accel" output="screen">
+  <node pkg="twist2accel" exec="twist2accel_node" output="both">
     <remap from="input/odom" to="$(var in_odom)"/>
     <remap from="input/twist" to="$(var in_twist)"/>
     <remap from="output/accel" to="$(var out_accel)"/>

localization/twist2accel/package.xml

@@ -21,6 +21,7 @@
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>signal_processing</depend>
   <depend>tf2</depend>
   <depend>tier4_debug_msgs</depend>

localization/twist2accel/src/twist2accel.cpp

@@ -24,8 +24,8 @@
 
 using std::placeholders::_1;
 
-Twist2Accel::Twist2Accel(const std::string & node_name, const rclcpp::NodeOptions & node_options)
-: rclcpp::Node(node_name, node_options)
+Twist2Accel::Twist2Accel(const rclcpp::NodeOptions & node_options)
+: rclcpp::Node("twist2accel", node_options)
 {
   sub_odom_ = create_subscription<nav_msgs::msg::Odometry>(
     "input/odom", 1, std::bind(&Twist2Accel::callbackOdometry, this, _1));
@@ -103,3 +103,6 @@ void Twist2Accel::estimateAccel(const geometry_msgs::msg::TwistStamped::SharedPt
   pub_accel_->publish(accel_msg);
   prev_twist_ptr_ = msg;
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(Twist2Accel)