refactor(gyro_odometer): componentize node in gyro_odometer (#7090)

* refactor: install glog to gyro_odometer Signed-off-by: Motsu-san <[email protected]> * style(pre-commit): autofix * feat: change glog error setting --------- Signed-off-by: Motsu-san <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · May 24, 2024 · 6d77841 · 6d77841
1 parent 27e1aa1
commit 6d77841
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Showing 7 changed files with 68 additions and 81 deletions.
diff --git a/localization/gyro_odometer/CMakeLists.txt b/localization/gyro_odometer/CMakeLists.txt
@@ -4,17 +4,12 @@ project(gyro_odometer)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(${PROJECT_NAME}
-  src/gyro_odometer_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/gyro_odometer_core.cpp
 )
 
 target_link_libraries(${PROJECT_NAME} fmt)
 
-ament_auto_add_library(gyro_odometer_node SHARED
-  src/gyro_odometer_core.cpp
-)
-
 if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_gyro_odometer
     test/test_main.cpp
@@ -25,10 +20,15 @@ if(BUILD_TESTING)
     rclcpp
   )
   target_link_libraries(test_gyro_odometer
-    gyro_odometer_node
+    ${PROJECT_NAME}
   )
 endif()
 
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::gyro_odometer::GyroOdometerNode"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
+)
 
 ament_auto_package(INSTALL_TO_SHARE
   launch

diff --git a/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp b/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp
@@ -36,14 +36,17 @@
 #include <memory>
 #include <string>
 
-class GyroOdometer : public rclcpp::Node
+namespace autoware::gyro_odometer
+{
+
+class GyroOdometerNode : public rclcpp::Node
 {
 private:
   using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX;
 
 public:
-  explicit GyroOdometer(const rclcpp::NodeOptions & options);
-  ~GyroOdometer();
+  explicit GyroOdometerNode(const rclcpp::NodeOptions & node_options);
+  ~GyroOdometerNode();
 
 private:
   void callbackVehicleTwist(
@@ -75,4 +78,6 @@ class GyroOdometer : public rclcpp::Node
   std::deque<sensor_msgs::msg::Imu> gyro_queue_;
 };
 
+}  // namespace autoware::gyro_odometer
+
 #endif  // GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_
diff --git a/localization/gyro_odometer/launch/gyro_odometer.launch.xml b/localization/gyro_odometer/launch/gyro_odometer.launch.xml
@@ -11,7 +11,7 @@
 
   <arg name="config_file" default="$(find-pkg-share gyro_odometer)/config/gyro_odometer.param.yaml"/>
 
-  <node pkg="gyro_odometer" exec="gyro_odometer" name="gyro_odometer" output="screen">
+  <node pkg="gyro_odometer" exec="gyro_odometer_node" output="both">
     <remap from="vehicle/twist_with_covariance" to="$(var input_vehicle_twist_with_covariance_topic)"/>
 
     <remap from="imu" to="$(var input_imu_topic)"/>

diff --git a/localization/gyro_odometer/package.xml b/localization/gyro_odometer/package.xml
@@ -19,14 +19,13 @@
 
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tier4_autoware_utils</depend>
 
-  <exec_depend>rclcpp</exec_depend>
-  <exec_depend>rclcpp_components</exec_depend>
-
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/localization/gyro_odometer/src/gyro_odometer_core.cpp b/localization/gyro_odometer/src/gyro_odometer_core.cpp
@@ -14,6 +14,8 @@
 
 #include "gyro_odometer/gyro_odometer_core.hpp"
 
+#include <rclcpp/rclcpp.hpp>
+
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #else
@@ -25,6 +27,42 @@
 #include <memory>
 #include <string>
 
+namespace autoware::gyro_odometer
+{
+
+GyroOdometerNode::GyroOdometerNode(const rclcpp::NodeOptions & node_options)
+: Node("gyro_odometer", node_options),
+  output_frame_(declare_parameter<std::string>("output_frame")),
+  message_timeout_sec_(declare_parameter<double>("message_timeout_sec")),
+  vehicle_twist_arrived_(false),
+  imu_arrived_(false)
+{
+  transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
+  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+
+  vehicle_twist_sub_ = create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>(
+    "vehicle/twist_with_covariance", rclcpp::QoS{100},
+    std::bind(&GyroOdometerNode::callbackVehicleTwist, this, std::placeholders::_1));
+
+  imu_sub_ = create_subscription<sensor_msgs::msg::Imu>(
+    "imu", rclcpp::QoS{100},
+    std::bind(&GyroOdometerNode::callbackImu, this, std::placeholders::_1));
+
+  twist_raw_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist_raw", rclcpp::QoS{10});
+  twist_with_covariance_raw_pub_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
+    "twist_with_covariance_raw", rclcpp::QoS{10});
+
+  twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist", rclcpp::QoS{10});
+  twist_with_covariance_pub_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
+    "twist_with_covariance", rclcpp::QoS{10});
+
+  // TODO(YamatoAndo) createTimer
+}
+
+GyroOdometerNode::~GyroOdometerNode()
+{
+}
+
 std::array<double, 9> transformCovariance(const std::array<double, 9> & cov)
 {
   using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX;
@@ -100,39 +138,7 @@ geometry_msgs::msg::TwistWithCovarianceStamped concatGyroAndOdometer(
   return twist_with_cov;
 }
 
-GyroOdometer::GyroOdometer(const rclcpp::NodeOptions & options)
-: Node("gyro_odometer", options),
-  output_frame_(declare_parameter<std::string>("output_frame")),
-  message_timeout_sec_(declare_parameter<double>("message_timeout_sec")),
-  vehicle_twist_arrived_(false),
-  imu_arrived_(false)
-{
-  transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
-
-  vehicle_twist_sub_ = create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>(
-    "vehicle/twist_with_covariance", rclcpp::QoS{100},
-    std::bind(&GyroOdometer::callbackVehicleTwist, this, std::placeholders::_1));
-
-  imu_sub_ = create_subscription<sensor_msgs::msg::Imu>(
-    "imu", rclcpp::QoS{100}, std::bind(&GyroOdometer::callbackImu, this, std::placeholders::_1));
-
-  twist_raw_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist_raw", rclcpp::QoS{10});
-  twist_with_covariance_raw_pub_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
-    "twist_with_covariance_raw", rclcpp::QoS{10});
-
-  twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist", rclcpp::QoS{10});
-  twist_with_covariance_pub_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
-    "twist_with_covariance", rclcpp::QoS{10});
-
-  // TODO(YamatoAndo) createTimer
-}
-
-GyroOdometer::~GyroOdometer()
-{
-}
-
-void GyroOdometer::callbackVehicleTwist(
+void GyroOdometerNode::callbackVehicleTwist(
   const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr vehicle_twist_ptr)
 {
   vehicle_twist_arrived_ = true;
@@ -173,7 +179,7 @@ void GyroOdometer::callbackVehicleTwist(
   gyro_queue_.clear();
 }
 
-void GyroOdometer::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr)
+void GyroOdometerNode::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr)
 {
   imu_arrived_ = true;
   if (!vehicle_twist_arrived_) {
@@ -241,7 +247,7 @@ void GyroOdometer::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_m
   gyro_queue_.clear();
 }
 
-void GyroOdometer::publishData(
+void GyroOdometerNode::publishData(
   const geometry_msgs::msg::TwistWithCovarianceStamped & twist_with_cov_raw)
 {
   geometry_msgs::msg::TwistStamped twist_raw;
@@ -269,3 +275,8 @@ void GyroOdometer::publishData(
   twist_pub_->publish(twist);
   twist_with_covariance_pub_->publish(twist_with_covariance);
 }
+
+}  // namespace autoware::gyro_odometer
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::gyro_odometer::GyroOdometerNode)
diff --git a/localization/gyro_odometer/src/gyro_odometer_node.cpp b/localization/gyro_odometer/src/gyro_odometer_node.cpp
diff --git a/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp b/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp
@@ -108,7 +108,8 @@ TEST(GyroOdometer, TestGyroOdometerWithImuAndVelocity)
   expected_output_twist.twist.twist.angular.y = input_imu.angular_velocity.y;
   expected_output_twist.twist.twist.angular.z = input_imu.angular_velocity.z;
 
-  auto gyro_odometer_node = std::make_shared<GyroOdometer>(getNodeOptionsWithDefaultParams());
+  auto gyro_odometer_node =
+    std::make_shared<autoware::gyro_odometer::GyroOdometerNode>(getNodeOptionsWithDefaultParams());
   auto imu_generator = std::make_shared<ImuGenerator>();
   auto velocity_generator = std::make_shared<VelocityGenerator>();
   auto gyro_odometer_validator_node = std::make_shared<GyroOdometerValidator>();
@@ -135,7 +136,8 @@ TEST(GyroOdometer, TestGyroOdometerImuOnly)
 {
   Imu input_imu = generateSampleImu();
 
-  auto gyro_odometer_node = std::make_shared<GyroOdometer>(getNodeOptionsWithDefaultParams());
+  auto gyro_odometer_node =
+    std::make_shared<autoware::gyro_odometer::GyroOdometerNode>(getNodeOptionsWithDefaultParams());
   auto imu_generator = std::make_shared<ImuGenerator>();
   auto gyro_odometer_validator_node = std::make_shared<GyroOdometerValidator>();