fix(map_loader, map_projection_loader): use component interface specs (…

…autowarefoundation#4585) * feat(map): use component_interface_specs in map_projection_loader Signed-off-by: kminoda <koji.minoda@tier4.jp> * update map_loader Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * feat: add dummy typo Signed-off-by: kminoda <koji.minoda@tier4.jp> * update name Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix test Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix test Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
kminoda · Aug 21, 2023 · 1bfdede · 1bfdede
1 parent d123bb2
commit 1bfdede
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Showing 11 changed files with 31 additions and 18 deletions.
diff --git a/launch/tier4_map_launch/launch/map.launch.py b/launch/tier4_map_launch/launch/map.launch.py
@@ -64,7 +64,6 @@ def launch_setup(context, *args, **kwargs):
         name="lanelet2_map_loader",
         remappings=[
             ("output/lanelet2_map", "vector_map"),
-            ("input/map_projector_info", "map_projector_type"),
         ],
         parameters=[
             {

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
@@ -15,6 +15,8 @@
 #ifndef MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
 #define MAP_LOADER__LANELET2_MAP_LOADER_NODE_HPP_
 
+#include <component_interface_specs/map.hpp>
+#include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
@@ -41,9 +43,11 @@ class Lanelet2MapLoaderNode : public rclcpp::Node
     const rclcpp::Time & now);
 
 private:
-  void on_map_projector_info(const MapProjectorInfo::ConstSharedPtr msg);
+  using MapProjectorInfo = map_interface::MapProjectorInfo;
 
-  rclcpp::Subscription<MapProjectorInfo>::SharedPtr sub_map_projector_type_;
+  void on_map_projector_info(const MapProjectorInfo::Message::ConstSharedPtr msg);
+
+  component_interface_utils::Subscription<MapProjectorInfo>::SharedPtr sub_map_projector_type_;
   rclcpp::Publisher<HADMapBin>::SharedPtr pub_map_bin_;
 };
 

diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml
@@ -16,6 +16,8 @@
 
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_map_msgs</depend>
+  <depend>component_interface_specs</depend>
+  <depend>component_interface_utils</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>

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
@@ -51,13 +51,16 @@
 Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options)
 : Node("lanelet2_map_loader", options)
 {
+  const auto adaptor = component_interface_utils::NodeAdaptor(this);
+
   // subscription
-  sub_map_projector_type_ = create_subscription<MapProjectorInfo>(
-    "input/map_projector_info", rclcpp::QoS{1}.transient_local(),
-    [this](const MapProjectorInfo::ConstSharedPtr msg) { on_map_projector_info(msg); });
+  adaptor.init_sub(
+    sub_map_projector_type_,
+    [this](const MapProjectorInfo::Message::ConstSharedPtr msg) { on_map_projector_info(msg); });
 }
 
-void Lanelet2MapLoaderNode::on_map_projector_info(const MapProjectorInfo::ConstSharedPtr msg)
+void Lanelet2MapLoaderNode::on_map_projector_info(
+  const MapProjectorInfo::Message::ConstSharedPtr msg)
 {
   const auto lanelet2_filename = declare_parameter("lanelet2_map_path", "");
   const auto center_line_resolution = declare_parameter("center_line_resolution", 5.0);

diff --git a/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp b/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp
@@ -17,7 +17,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "tier4_map_msgs/msg/map_projector_info.hpp"
+#include <component_interface_specs/map.hpp>
+#include <component_interface_utils/rclcpp.hpp>
 
 #include <string>
 
@@ -29,7 +30,8 @@ class MapProjectionLoader : public rclcpp::Node
   MapProjectionLoader();
 
 private:
-  rclcpp::Publisher<tier4_map_msgs::msg::MapProjectorInfo>::SharedPtr publisher_;
+  using MapProjectorInfo = map_interface::MapProjectorInfo;
+  component_interface_utils::Publisher<MapProjectorInfo>::SharedPtr publisher_;
 };
 
 #endif  // MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_
diff --git a/map/map_projection_loader/launch/map_projection_loader.launch.xml b/map/map_projection_loader/launch/map_projection_loader.launch.xml
@@ -3,7 +3,6 @@
   <arg name="lanelet2_map_path" description="Path to the lanelet2 map file"/>
 
   <node pkg="map_projection_loader" exec="map_projection_loader" name="map_projection_loader" output="screen">
-    <remap from="~/map_projector_info" to="/map/map_projector_type"/>
     <param name="map_projector_info_path" value="$(var map_projector_info_path)"/>
     <param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
   </node>

diff --git a/map/map_projection_loader/package.xml b/map/map_projection_loader/package.xml
@@ -12,6 +12,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>component_interface_specs</depend>
+  <depend>component_interface_utils</depend>
   <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

diff --git a/map/map_projection_loader/src/map_projection_loader.cpp b/map/map_projection_loader/src/map_projection_loader.cpp
@@ -16,6 +16,8 @@
 
 #include "map_projection_loader/load_info_from_lanelet2_map.hpp"
 
+#include <tier4_map_msgs/msg/map_projector_info.hpp>
+
 #include <yaml-cpp/yaml.h>
 
 #include <fstream>
@@ -64,7 +66,7 @@ MapProjectionLoader::MapProjectionLoader() : Node("map_projection_loader")
   }
 
   // Publish the message
-  publisher_ = this->create_publisher<tier4_map_msgs::msg::MapProjectorInfo>(
-    "~/map_projector_info", rclcpp::QoS(rclcpp::KeepLast(1)).transient_local());
+  const auto adaptor = component_interface_utils::NodeAdaptor(this);
+  adaptor.init_pub(publisher_);
   publisher_->publish(msg);
 }
diff --git a/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py
@@ -110,7 +110,7 @@ def test_node_link(self):
         # Create subscription to map_projector_info topic
         subscription = self.test_node.create_subscription(
             MapProjectorInfo,
-            "/map_projection_loader/map_projector_info",
+            "/map/map_projector_type",
             self.callback,
             custom_qos_profile,
         )
@@ -125,7 +125,7 @@ def test_node_link(self):
             get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
         )
         with open(map_projection_info_path) as f:
-            yaml_data = yaml.load(f)
+            yaml_data = yaml.load(f, Loader=yaml.FullLoader)
 
         # Test if message received
         self.assertIsNotNone(

diff --git a/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py
@@ -110,7 +110,7 @@ def test_node_link(self):
         # Create subscription to map_projector_info topic
         subscription = self.test_node.create_subscription(
             MapProjectorInfo,
-            "/map_projection_loader/map_projector_info",
+            "/map/map_projector_type",
             self.callback,
             custom_qos_profile,
         )
@@ -125,7 +125,7 @@ def test_node_link(self):
             get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
         )
         with open(map_projection_info_path) as f:
-            yaml_data = yaml.load(f)
+            yaml_data = yaml.load(f, Loader=yaml.FullLoader)
 
         # Test if message received
         self.assertIsNotNone(

diff --git a/map/map_projection_loader/test/test_node_load_utm_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_utm_from_yaml.test.py
@@ -110,7 +110,7 @@ def test_node_link(self):
         # Create subscription to map_projector_info topic
         subscription = self.test_node.create_subscription(
             MapProjectorInfo,
-            "/map_projection_loader/map_projector_info",
+            "/map/map_projector_type",
             self.callback,
             custom_qos_profile,
         )
@@ -125,7 +125,7 @@ def test_node_link(self):
             get_package_share_directory("map_projection_loader"), YAML_FILE_PATH
         )
         with open(map_projection_info_path) as f:
-            yaml_data = yaml.load(f)
+            yaml_data = yaml.load(f, Loader=yaml.FullLoader)
 
         # Test if message received
         self.assertIsNotNone(