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feat(ekf_localizer): componentize EKFLocalizer #7104

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merged 2 commits into from
May 24, 2024
Merged

feat(ekf_localizer): componentize EKFLocalizer #7104

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707b930
remove unusing main func file
a-maumau May 23, 2024
f8af546
add and mod to use glog
a-maumau May 23, 2024
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17 changes: 8 additions & 9 deletions localization/ekf_localizer/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ include_directories(

ament_auto_find_build_dependencies()

ament_auto_add_library(ekf_localizer_lib SHARED
ament_auto_add_library(${PROJECT_NAME} SHARED
src/ekf_localizer.cpp
src/covariance.cpp
src/diagnostics.cpp
Expand All @@ -24,21 +24,20 @@ ament_auto_add_library(ekf_localizer_lib SHARED
src/ekf_module.cpp
)

target_link_libraries(ekf_localizer_lib Eigen3::Eigen)

ament_auto_add_executable(ekf_localizer src/ekf_localizer_node.cpp)

target_compile_options(ekf_localizer PUBLIC -g -Wall -Wextra -Wpedantic -Werror)
rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "EKFLocalizer"
EXECUTABLE ${PROJECT_NAME}_node
EXECUTOR SingleThreadedExecutor
)

target_link_libraries(ekf_localizer ekf_localizer_lib)
target_include_directories(ekf_localizer PUBLIC include)
target_link_libraries(${PROJECT_NAME} Eigen3::Eigen)

function(add_testcase filepath)
get_filename_component(filename ${filepath} NAME)
string(REGEX REPLACE ".cpp" "" test_name ${filename})

ament_add_gtest(${test_name} ${filepath})
target_link_libraries("${test_name}" ekf_localizer_lib)
target_link_libraries("${test_name}" ${PROJECT_NAME})
ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS})
endfunction()

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2 changes: 1 addition & 1 deletion localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp
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Expand Up @@ -102,7 +102,7 @@ class Simple1DFilter
class EKFLocalizer : public rclcpp::Node
{
public:
EKFLocalizer(const std::string & node_name, const rclcpp::NodeOptions & options);
explicit EKFLocalizer(const rclcpp::NodeOptions & options);

private:
const std::shared_ptr<Warning> warning_;
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2 changes: 1 addition & 1 deletion localization/ekf_localizer/launch/ekf_localizer.launch.xml
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Expand Up @@ -17,7 +17,7 @@
<arg name="output_twist_name" default="ekf_twist"/>
<arg name="output_twist_with_covariance_name" default="ekf_twist_with_covariance"/>

<node pkg="ekf_localizer" exec="ekf_localizer" name="ekf_localizer" output="screen">
<node pkg="ekf_localizer" exec="ekf_localizer_node" output="both">
<remap from="in_pose_with_covariance" to="$(var input_pose_with_cov_name)"/>

<remap from="in_twist_with_covariance" to="$(var input_twist_with_cov_name)"/>
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1 change: 1 addition & 0 deletions localization/ekf_localizer/package.xml
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Expand Up @@ -29,6 +29,7 @@
<depend>kalman_filter</depend>
<depend>nav_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>std_srvs</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
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7 changes: 5 additions & 2 deletions localization/ekf_localizer/src/ekf_localizer.cpp
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Expand Up @@ -40,8 +40,8 @@

using std::placeholders::_1;

EKFLocalizer::EKFLocalizer(const std::string & node_name, const rclcpp::NodeOptions & node_options)
: rclcpp::Node(node_name, node_options),
EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options)
: rclcpp::Node("ekf_localizer", node_options),
warning_(std::make_shared<Warning>(this)),
params_(this),
ekf_dt_(params_.ekf_dt),
Expand Down Expand Up @@ -479,3 +479,6 @@ void EKFLocalizer::serviceTriggerNode(
res->success = true;
return;
}

#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(EKFLocalizer)
28 changes: 0 additions & 28 deletions localization/ekf_localizer/src/ekf_localizer_node.cpp
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