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feat(vehicle_velocity_converter): componentize VehicleVelocityConverter #7116

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merged 4 commits into from
Jun 6, 2024
Merged

feat(vehicle_velocity_converter): componentize VehicleVelocityConverter #7116

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f1b4c59
remove unusing main func file
a-maumau May 24, 2024
a41bdf0
mod to componentize and use glog
a-maumau May 24, 2024
9e1976c
change log output from screen to both
a-maumau May 24, 2024
22bd43b
Merge branch 'main' into mau/feat/sensing/vehicle_velocity_converter
YamatoAndo Jun 6, 2024
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10 changes: 7 additions & 3 deletions sensing/vehicle_velocity_converter/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,11 +4,15 @@ project(vehicle_velocity_converter)
find_package(autoware_cmake REQUIRED)
autoware_package()

ament_auto_add_executable(vehicle_velocity_converter
src/vehicle_velocity_converter_node.cpp
ament_auto_add_library(${PROJECT_NAME} SHARED
src/vehicle_velocity_converter.cpp
)
ament_target_dependencies(vehicle_velocity_converter)

rclcpp_components_register_node(${PROJECT_NAME}
PLUGIN "VehicleVelocityConverter"
EXECUTABLE ${PROJECT_NAME}_node
EXECUTOR SingleThreadedExecutor
)

ament_auto_package(
INSTALL_TO_SHARE
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2 changes: 1 addition & 1 deletion ...icle_velocity_converter/include/vehicle_velocity_converter/vehicle_velocity_converter.hpp
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Expand Up @@ -28,7 +28,7 @@
class VehicleVelocityConverter : public rclcpp::Node
{
public:
VehicleVelocityConverter();
explicit VehicleVelocityConverter(const rclcpp::NodeOptions & options);
~VehicleVelocityConverter() = default;

private:
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2 changes: 1 addition & 1 deletion sensing/vehicle_velocity_converter/launch/vehicle_velocity_converter.launch.xml
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Expand Up @@ -3,7 +3,7 @@
<arg name="output_twist_with_covariance" default="twist_with_covariance"/>
<arg name="config_file" default="$(find-pkg-share vehicle_velocity_converter)/config/vehicle_velocity_converter.param.yaml"/>

<node pkg="vehicle_velocity_converter" exec="vehicle_velocity_converter" name="vehicle_velocity_converter_node" output="screen">
<node pkg="vehicle_velocity_converter" exec="vehicle_velocity_converter_node" output="both">
<param from="$(var config_file)"/>
<remap from="velocity_status" to="$(var input_vehicle_velocity_topic)"/>
<remap from="twist_with_covariance" to="$(var output_twist_with_covariance)"/>
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1 change: 1 addition & 0 deletions sensing/vehicle_velocity_converter/package.xml
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Expand Up @@ -13,6 +13,7 @@
<depend>autoware_vehicle_msgs</depend>
<depend>geometry_msgs</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

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6 changes: 5 additions & 1 deletion sensing/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp
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Expand Up @@ -14,7 +14,8 @@

#include "vehicle_velocity_converter/vehicle_velocity_converter.hpp"

VehicleVelocityConverter::VehicleVelocityConverter() : Node("vehicle_velocity_converter")
VehicleVelocityConverter::VehicleVelocityConverter(const rclcpp::NodeOptions & options)
: rclcpp::Node("vehicle_velocity_converter", options)
{
// set covariance value for twist with covariance msg
stddev_vx_ = declare_parameter<double>("velocity_stddev_xx");
Expand Down Expand Up @@ -52,3 +53,6 @@ void VehicleVelocityConverter::callbackVelocityReport(

twist_with_covariance_pub_->publish(twist_with_covariance_msg);
}

#include <rclcpp_components/register_node_macro.hpp>
RCLCPP_COMPONENTS_REGISTER_NODE(VehicleVelocityConverter)
25 changes: 0 additions & 25 deletions sensing/vehicle_velocity_converter/src/vehicle_velocity_converter_node.cpp
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