feat(map_loader): make some functions static (autowarefoundation#2014)

* feat(map_loader): make some functions static Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * make publisher alive after constructor Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
tier4 · Jan 26, 2023 · db00897 · db00897
1 parent 80e4a46
commit db00897
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Showing 2 changed files with 17 additions and 14 deletions.
diff --git a/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp b/map/map_loader/include/map_loader/lanelet2_map_loader_node.hpp
@@ -31,13 +31,15 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
 public:
   explicit Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options);
 
+  static lanelet::LaneletMapPtr load_map(
+    rclcpp::Node & node, const std::string & lanelet2_filename,
+    const std::string & lanelet2_map_projector_type);
+  static HADMapBin create_map_bin_msg(
+    const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename,
+    const rclcpp::Time & now);
+
 private:
   rclcpp::Publisher<HADMapBin>::SharedPtr pub_map_bin_;
-
-  lanelet::LaneletMapPtr load_map(
-    const std::string & lanelet2_filename, const std::string & lanelet2_map_projector_type);
-  HADMapBin create_map_bin_msg(
-    const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename);
 };
 
 #endif  // MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp
@@ -54,7 +54,7 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
   const auto center_line_resolution = declare_parameter("center_line_resolution", 5.0);
 
   // load map from file
-  const auto map = load_map(lanelet2_filename, lanelet2_map_projector_type);
+  const auto map = load_map(*this, lanelet2_filename, lanelet2_map_projector_type);
   if (!map) {
     return;
   }
@@ -63,7 +63,7 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
   lanelet::utils::overwriteLaneletsCenterline(map, center_line_resolution, false);
 
   // create map bin msg
-  const auto map_bin_msg = create_map_bin_msg(map, lanelet2_filename);
+  const auto map_bin_msg = create_map_bin_msg(map, lanelet2_filename, now());
 
   // create publisher and publish
   pub_map_bin_ =
@@ -72,7 +72,8 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options
 }
 
 lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map(
-  const std::string & lanelet2_filename, const std::string & lanelet2_map_projector_type)
+  rclcpp::Node & node, const std::string & lanelet2_filename,
+  const std::string & lanelet2_map_projector_type)
 {
   lanelet::ErrorMessages errors{};
   if (lanelet2_map_projector_type == "MGRS") {
@@ -82,8 +83,8 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map(
       return map;
     }
   } else if (lanelet2_map_projector_type == "UTM") {
-    const double map_origin_lat = declare_parameter("latitude", 0.0);
-    const double map_origin_lon = declare_parameter("longitude", 0.0);
+    const double map_origin_lat = node.declare_parameter("latitude", 0.0);
+    const double map_origin_lon = node.declare_parameter("longitude", 0.0);
     lanelet::GPSPoint position{map_origin_lat, map_origin_lon};
     lanelet::Origin origin{position};
     lanelet::projection::UtmProjector projector{origin};
@@ -93,25 +94,25 @@ lanelet::LaneletMapPtr Lanelet2MapLoaderNode::load_map(
       return map;
     }
   } else {
-    RCLCPP_ERROR(get_logger(), "lanelet2_map_projector_type is not supported");
+    RCLCPP_ERROR(rclcpp::get_logger("map_loader"), "lanelet2_map_projector_type is not supported");
     return nullptr;
   }
 
   for (const auto & error : errors) {
-    RCLCPP_ERROR_STREAM(get_logger(), error);
+    RCLCPP_ERROR_STREAM(rclcpp::get_logger("map_loader"), error);
   }
   return nullptr;
 }
 
 HADMapBin Lanelet2MapLoaderNode::create_map_bin_msg(
-  const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename)
+  const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, const rclcpp::Time & now)
 {
   std::string format_version{}, map_version{};
   lanelet::io_handlers::AutowareOsmParser::parseVersions(
     lanelet2_filename, &format_version, &map_version);
 
   HADMapBin map_bin_msg;
-  map_bin_msg.header.stamp = now();
+  map_bin_msg.header.stamp = now;
   map_bin_msg.header.frame_id = "map";
   map_bin_msg.format_version = format_version;
   map_bin_msg.map_version = map_version;