From 58f5b5fd24911cdf8f46900e3f92208e9e1ce5de Mon Sep 17 00:00:00 2001
From: Masaki Baba <maumaumaumaumaumaumaumaumaumau@gmail.com>
Date: Tue, 28 May 2024 09:14:40 +0900
Subject: [PATCH] feat(geo_pose_projector): componentize GeoPoseProjector
 (#7138)

* remove unusing main func file

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* mod to componentize and use glog

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* change log output from screen to both

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

---------

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
---
 .../geo_pose_projector/CMakeLists.txt         | 10 +++++--
 .../launch/geo_pose_projector.launch.xml      |  2 +-
 localization/geo_pose_projector/package.xml   |  1 +
 .../src/geo_pose_projector.cpp                |  7 +++--
 .../src/geo_pose_projector.hpp                |  2 +-
 .../src/geo_pose_projector_node.cpp           | 29 -------------------
 6 files changed, 15 insertions(+), 36 deletions(-)
 delete mode 100644 localization/geo_pose_projector/src/geo_pose_projector_node.cpp

diff --git a/localization/geo_pose_projector/CMakeLists.txt b/localization/geo_pose_projector/CMakeLists.txt
index 6e2cdf32fb6c5..f274e7d23dbab 100644
--- a/localization/geo_pose_projector/CMakeLists.txt
+++ b/localization/geo_pose_projector/CMakeLists.txt
@@ -4,11 +4,15 @@ project(geo_pose_projector)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(geo_pose_projector
-  src/geo_pose_projector_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/geo_pose_projector.cpp
 )
-ament_target_dependencies(geo_pose_projector)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "GeoPoseProjector"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
+)
 
 ament_auto_package(
   INSTALL_TO_SHARE
diff --git a/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml b/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml
index d840add1ed1c7..de6785a016858 100644
--- a/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml
+++ b/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml
@@ -4,7 +4,7 @@
   <arg name="output_pose" default="/pose_with_covariance"/>
   <arg name="param_path" default="$(find-pkg-share geo_pose_projector)/config/geo_pose_projector.param.yaml"/>
 
-  <node pkg="geo_pose_projector" exec="geo_pose_projector" name="geo_pose_projector" output="screen">
+  <node pkg="geo_pose_projector" exec="geo_pose_projector_node" output="both">
     <remap from="input_geo_pose" to="$(var input_geo_pose)"/>
     <remap from="output_pose" to="$(var output_pose)"/>
 
diff --git a/localization/geo_pose_projector/package.xml b/localization/geo_pose_projector/package.xml
index c0e2db59deb64..36b2aec8384ac 100644
--- a/localization/geo_pose_projector/package.xml
+++ b/localization/geo_pose_projector/package.xml
@@ -24,6 +24,7 @@
   <depend>geography_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
 
diff --git a/localization/geo_pose_projector/src/geo_pose_projector.cpp b/localization/geo_pose_projector/src/geo_pose_projector.cpp
index d147888bb743b..80bb407958de2 100644
--- a/localization/geo_pose_projector/src/geo_pose_projector.cpp
+++ b/localization/geo_pose_projector/src/geo_pose_projector.cpp
@@ -25,8 +25,8 @@
 
 #include <string>
 
-GeoPoseProjector::GeoPoseProjector()
-: Node("geo_pose_projector"), publish_tf_(declare_parameter<bool>("publish_tf"))
+GeoPoseProjector::GeoPoseProjector(const rclcpp::NodeOptions & options)
+: rclcpp::Node("geo_pose_projector", options), publish_tf_(declare_parameter<bool>("publish_tf"))
 {
   // Subscribe to map_projector_info topic
   const auto adaptor = component_interface_utils::NodeAdaptor(this);
@@ -102,3 +102,6 @@ void GeoPoseProjector::on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr m
     tf_broadcaster_->sendTransform(transform_stamped);
   }
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(GeoPoseProjector)
diff --git a/localization/geo_pose_projector/src/geo_pose_projector.hpp b/localization/geo_pose_projector/src/geo_pose_projector.hpp
index b0611fec36984..738e805ef8101 100644
--- a/localization/geo_pose_projector/src/geo_pose_projector.hpp
+++ b/localization/geo_pose_projector/src/geo_pose_projector.hpp
@@ -36,7 +36,7 @@ class GeoPoseProjector : public rclcpp::Node
   using MapProjectorInfo = map_interface::MapProjectorInfo;
 
 public:
-  GeoPoseProjector();
+  explicit GeoPoseProjector(const rclcpp::NodeOptions & options);
 
 private:
   void on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr msg);
diff --git a/localization/geo_pose_projector/src/geo_pose_projector_node.cpp b/localization/geo_pose_projector/src/geo_pose_projector_node.cpp
deleted file mode 100644
index 97367d6b9f774..0000000000000
--- a/localization/geo_pose_projector/src/geo_pose_projector_node.cpp
+++ /dev/null
@@ -1,29 +0,0 @@
-// Copyright 2023 Autoware Foundation
-//
-// 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 "geo_pose_projector.hpp"
-
-#include <rclcpp/rclcpp.hpp>
-
-#include <memory>
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-
-  rclcpp::spin(std::make_shared<GeoPoseProjector>());
-  rclcpp::shutdown();
-
-  return 0;
-}