From f92ee8c8309eef39166106ca0dd7a6ef16393f56 Mon Sep 17 00:00:00 2001
From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com>
Date: Fri, 17 May 2024 10:48:47 +0900
Subject: [PATCH] feat: componentize-mrm-handler (#7018)

Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
---
 system/mrm_handler/CMakeLists.txt             |  9 ++++--
 .../include/mrm_handler/mrm_handler_core.hpp  |  2 +-
 .../mrm_handler/launch/mrm_handler.launch.xml |  2 +-
 system/mrm_handler/package.xml                |  1 +
 .../src/mrm_handler/mrm_handler_core.cpp      |  5 ++-
 .../src/mrm_handler/mrm_handler_node.cpp      | 32 -------------------
 6 files changed, 14 insertions(+), 37 deletions(-)
 delete mode 100644 system/mrm_handler/src/mrm_handler/mrm_handler_node.cpp

diff --git a/system/mrm_handler/CMakeLists.txt b/system/mrm_handler/CMakeLists.txt
index 7c2174f03a6f3..93e03e7f20ead 100644
--- a/system/mrm_handler/CMakeLists.txt
+++ b/system/mrm_handler/CMakeLists.txt
@@ -4,11 +4,16 @@ project(mrm_handler)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(mrm_handler
-  src/mrm_handler/mrm_handler_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/mrm_handler/mrm_handler_core.cpp
 )
 
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "MrmHandler"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR MultiThreadedExecutor
+)
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
   config
diff --git a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp
index 1dd0f6b081337..c7aaca96aae49 100644
--- a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp
+++ b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp
@@ -60,7 +60,7 @@ struct Param
 class MrmHandler : public rclcpp::Node
 {
 public:
-  MrmHandler();
+  explicit MrmHandler(const rclcpp::NodeOptions & options);
 
 private:
   // type
diff --git a/system/mrm_handler/launch/mrm_handler.launch.xml b/system/mrm_handler/launch/mrm_handler.launch.xml
index 562134f5301e2..7e761157956df 100644
--- a/system/mrm_handler/launch/mrm_handler.launch.xml
+++ b/system/mrm_handler/launch/mrm_handler.launch.xml
@@ -18,7 +18,7 @@
   <arg name="config_file" default="$(find-pkg-share mrm_handler)/config/mrm_handler.param.yaml"/>
 
   <!-- mrm_handler -->
-  <node pkg="mrm_handler" exec="mrm_handler" name="mrm_handler" output="screen">
+  <node pkg="mrm_handler" exec="mrm_handler_node" name="mrm_handler" output="screen">
     <remap from="~/input/operation_mode_availability" to="$(var input_operation_mode_availability)"/>
     <remap from="~/input/odometry" to="$(var input_odometry)"/>
     <remap from="~/input/control_mode" to="$(var input_control_mode)"/>
diff --git a/system/mrm_handler/package.xml b/system/mrm_handler/package.xml
index e62091f2984e6..c15bc98a6c190 100644
--- a/system/mrm_handler/package.xml
+++ b/system/mrm_handler/package.xml
@@ -18,6 +18,7 @@
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
   <depend>tier4_system_msgs</depend>
diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp
index e8e692f755e2d..5e709946c2f46 100644
--- a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp
+++ b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp
@@ -18,7 +18,7 @@
 #include <string>
 #include <utility>
 
-MrmHandler::MrmHandler() : Node("mrm_handler")
+MrmHandler::MrmHandler(const rclcpp::NodeOptions & options) : Node("mrm_handler", options)
 {
   // Parameter
   param_.update_rate = declare_parameter<int>("update_rate", 10);
@@ -597,3 +597,6 @@ bool MrmHandler::isArrivedAtGoal()
 
   return operation_mode_state_->mode == OperationModeState::STOP;
 }
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(MrmHandler)
diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_node.cpp b/system/mrm_handler/src/mrm_handler/mrm_handler_node.cpp
deleted file mode 100644
index 4aaab3296f64b..0000000000000
--- a/system/mrm_handler/src/mrm_handler/mrm_handler_node.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-// Copyright 2024 TIER IV, Inc.
-//
-// 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 "mrm_handler/mrm_handler_core.hpp"
-
-#include <rclcpp/rclcpp.hpp>
-
-#include <memory>
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  rclcpp::executors::MultiThreadedExecutor executor;
-  auto node = std::make_shared<MrmHandler>();
-  executor.add_node(node);
-  executor.spin();
-  executor.remove_node(node);
-  rclcpp::shutdown();
-
-  return 0;
-}