allow use as component or node

ros-perception · Jan 18, 2024 · 1204772 · 1204772
1 parent 335e878
commit 1204772
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Showing 3 changed files with 66 additions and 26 deletions.
diff --git a/depth_image_proc/CMakeLists.txt b/depth_image_proc/CMakeLists.txt
@@ -36,17 +36,46 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
  src/register.cpp
 )
 
-rclcpp_components_register_nodes(${PROJECT_NAME}
- "${PROJECT_NAME}::ConvertMetricNode"
- "${PROJECT_NAME}::CropForemostNode"
- "${PROJECT_NAME}::DisparityNode"
- "${PROJECT_NAME}::PointCloudXyzNode"
- "${PROJECT_NAME}::PointCloudXyzRadialNode"
- "${PROJECT_NAME}::PointCloudXyziNode"
- "${PROJECT_NAME}::PointCloudXyziRadialNode"
- "${PROJECT_NAME}::PointCloudXyzrgbNode"
- "${PROJECT_NAME}::PointCloudXyzrgbRadialNode"
- "${PROJECT_NAME}::RegisterNode"
+# Register individual components and also build standalone nodes for each
+rclcpp_components_register_node(${PROJECT_NAME}
+ PLUGIN "depth_image_proc::ConvertMetricNode"
+ EXECUTABLE convert_metric_node
+)
+rclcpp_components_register_node(${PROJECT_NAME}
+ PLUGIN "depth_image_proc::CropForemostNode"
+ EXECUTABLE crop_foremost_node
+)
+rclcpp_components_register_node(${PROJECT_NAME}
+ PLUGIN "depth_image_proc::DisparityNode"
+ EXECUTABLE disparity_node
+)
+rclcpp_components_register_node(${PROJECT_NAME}
+ PLUGIN "depth_image_proc::PointCloudXyzNode"
+ EXECUTABLE point_cloud_xyz_node
+)
+rclcpp_components_register_node(${PROJECT_NAME}
+ PLUGIN "depth_image_proc::PointCloudXyzrgbNode"
+ EXECUTABLE point_cloud_xyzrgb_node
+)
+rclcpp_components_register_node(${PROJECT_NAME}
+ PLUGIN "depth_image_proc::PointCloudXyziNode"
+ EXECUTABLE point_cloud_xyzi_node
+)
+rclcpp_components_register_node(${PROJECT_NAME}
+ PLUGIN "depth_image_proc::PointCloudXyzRadialNode"
+ EXECUTABLE point_cloud_xyz_radial_node
+)
+rclcpp_components_register_node(${PROJECT_NAME}
+ PLUGIN "depth_image_proc::PointCloudXyziRadialNode"
+ EXECUTABLE point_cloud_xyzi_radial_node
+)
+rclcpp_components_register_node(${PROJECT_NAME}
+ PLUGIN "depth_image_proc::PointCloudXyziRadialNode"
+ EXECUTABLE point_cloud_xyzrgb_radial_node
+)
+rclcpp_components_register_node(${PROJECT_NAME}
+ PLUGIN "depth_image_proc::RegisterNode"
+ EXECUTABLE register_node
 )
 
 target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES})

diff --git a/image_proc/CMakeLists.txt b/image_proc/CMakeLists.txt
@@ -26,55 +26,65 @@ target_link_libraries(${PROJECT_NAME}
  ${OpenCV_LIBRARIES}
 )
 
-# rectify library
+# rectify component and node
 ament_auto_add_library(rectify SHARED
  src/rectify.cpp)
 target_compile_definitions(rectify
  PRIVATE "COMPOSITION_BUILDING_DLL"
 )
-rclcpp_components_register_nodes(rectify "image_proc::RectifyNode")
-set(node_plugins "${node_plugins}image_proc::RectifyNode;$<TARGET_FILE:rectify>\n")
+rclcpp_components_register_node(rectify
+ PLUGIN "image_proc::RectifyNode"
+ EXECUTABLE rectify_node
+)
 
-# debayer library
+# debayer component and node
 ament_auto_add_library(debayer SHARED
  src/debayer.cpp
  src/edge_aware.cpp
 )
 target_compile_definitions(debayer
  PRIVATE "COMPOSITION_BUILDING_DLL"
 )
-rclcpp_components_register_nodes(debayer "image_proc::DebayerNode")
-set(node_plugins "${node_plugins}image_proc::DebayerNode;$<TARGET_FILE:debayer>\n")
+rclcpp_components_register_node(debayer
+ PLUGIN "image_proc::DebayerNode"
+ EXECUTABLE debayer_node
+)
 
-# resize library
+# resize component and node
 ament_auto_add_library(resize SHARED
  src/resize.cpp
 )
 target_compile_definitions(resize
  PRIVATE "COMPOSITION_BUILDING_DLL"
 )
-rclcpp_components_register_nodes(resize "image_proc::ResizeNode")
-set(node_plugins "${node_plugins}image_proc::ResizeNode;$<TARGET_FILE:resize>\n")
+rclcpp_components_register_node(resize
+ PLUGIN "image_proc::ResizeNode"
+ EXECUTABLE resize_node
+)
 
-# crop_decimate library
+# crop_decimate component and node
 ament_auto_add_library(crop_decimate SHARED
  src/crop_decimate.cpp
 )
 target_compile_definitions(crop_decimate
  PRIVATE "COMPOSITION_BUILDING_DLL"
 )
-rclcpp_components_register_nodes(crop_decimate "image_proc::CropDecimateNode")
-set(node_plugins "${node_plugins}image_proc::CropDecimateNode;$<TARGET_FILE:crop_decimate>\n")
+rclcpp_components_register_node(crop_decimate
+ PLUGIN "image_proc::CropDecimateNode"
+ EXECUTABLE crop_decimate_node
+)
 
-# crop_non_zero library
+# crop_non_zero component and node
 ament_auto_add_library(crop_non_zero SHARED
  src/crop_non_zero.cpp
 )
 target_compile_definitions(crop_non_zero
  PRIVATE "COMPOSITION_BUILDING_DLL"
 )
-rclcpp_components_register_nodes(crop_non_zero "image_proc::CropNonZeroNode")
-set(node_plugins "${node_plugins}image_proc::CropNonZeroNode;$<TARGET_FILE:crop_non_zero>\n")
+rclcpp_components_register_node(crop_non_zero
+ PLUGIN "image_proc::CropNonZeroNode"
+ EXECUTABLE crop_non_zero_node
+)
 
 # image_proc example node
 ament_auto_add_executable(image_proc_exe

diff --git a/stereo_image_proc/CMakeLists.txt b/stereo_image_proc/CMakeLists.txt
@@ -26,6 +26,7 @@ target_link_libraries(${PROJECT_NAME}
  ${OpenCV_LIBRARIES}
 )
 
+# Register individual components and also build standalone nodes for each
 rclcpp_components_register_node(${PROJECT_NAME}
  PLUGIN "stereo_image_proc::DisparityNode"
  EXECUTABLE disparity_node