feat(localization_error_monitor): componentize LocalizationErrorMonitor

localization/localization_error_monitor/CMakeLists.txt

@@ -4,33 +4,34 @@ project(localization_error_monitor)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(localization_error_monitor_module SHARED
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/diagnostics.cpp
+  src/localization_error_monitor.cpp
 )
 
-ament_auto_add_executable(localization_error_monitor
-  src/main.cpp
-  src/node.cpp
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "LocalizationErrorMonitor"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
 )
-target_link_libraries(localization_error_monitor localization_error_monitor_module)
 
 if(BUILD_TESTING)
   function(add_testcase filepath)
     get_filename_component(filename ${filepath} NAME)
     string(REGEX REPLACE ".cpp" "" test_name ${filename})
     ament_add_gtest(${test_name} ${filepath})
     target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)
-    target_link_libraries(${test_name} localization_error_monitor_module)
+    target_link_libraries(${test_name} ${PROJECT_NAME})
     ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS})
   endfunction()
 
-
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
   add_testcase(test/test_diagnostics.cpp)
 endif()
 
-ament_auto_package(INSTALL_TO_SHARE
+ament_auto_package(
+  INSTALL_TO_SHARE
   config
   launch
 )

localization/localization_error_monitor/include/localization_error_monitor/node.hpp → localization/localization_error_monitor/include/localization_error_monitor/localization_error_monitor.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef LOCALIZATION_ERROR_MONITOR__NODE_HPP_
-#define LOCALIZATION_ERROR_MONITOR__NODE_HPP_
+#ifndef LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_
+#define LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_
 
 #include <Eigen/Dense>
 #include <rclcpp/rclcpp.hpp>
@@ -58,7 +58,7 @@ class LocalizationErrorMonitor : public rclcpp::Node
   double measureSizeEllipseAlongBodyFrame(const Eigen::Matrix2d & Pinv, double theta);
 
 public:
-  LocalizationErrorMonitor();
+  explicit LocalizationErrorMonitor(const rclcpp::NodeOptions & options);
   ~LocalizationErrorMonitor() = default;
 };
-#endif  // LOCALIZATION_ERROR_MONITOR__NODE_HPP_
+#endif  // LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_

localization/localization_error_monitor/launch/localization_error_monitor.launch.xml

@@ -2,7 +2,7 @@
   <arg name="input/odom" default="/localization/kinematic_state"/>
   <arg name="param_file" default="$(find-pkg-share localization_error_monitor)/config/localization_error_monitor.param.yaml"/>
 
-  <node name="localization_error_monitor" exec="localization_error_monitor" pkg="localization_error_monitor" output="screen">
+  <node pkg="localization_error_monitor" exec="localization_error_monitor_node" output="both">
     <remap from="input/odom" to="$(var input/odom)"/>
     <param from="$(var param_file)"/>
   </node>

localization/localization_error_monitor/package.xml

@@ -23,6 +23,7 @@
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>nav_msgs</depend>
+  <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tier4_autoware_utils</depend>

localization/localization_error_monitor/src/node.cpp → localization/localization_error_monitor/src/localization_error_monitor.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "localization_error_monitor/node.hpp"
+#include "localization_error_monitor/localization_error_monitor.hpp"
 
 #include "localization_error_monitor/diagnostics.hpp"
 
@@ -32,7 +32,8 @@
 #include <string>
 #include <utility>
 
-LocalizationErrorMonitor::LocalizationErrorMonitor() : Node("localization_error_monitor")
+LocalizationErrorMonitor::LocalizationErrorMonitor(const rclcpp::NodeOptions & options)
+: Node("localization_error_monitor", options)
 {
   scale_ = this->declare_parameter<double>("scale");
   error_ellipse_size_ = this->declare_parameter<double>("error_ellipse_size");
@@ -143,3 +144,6 @@ double LocalizationErrorMonitor::measureSizeEllipseAlongBodyFrame(
   double d = std::sqrt((e.transpose() * Pinv * e)(0, 0) / Pinv.determinant());
   return d;
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(LocalizationErrorMonitor)