use rclcpp components

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
ros-sports · Dec 1, 2023 · c693159 · c693159
1 parent b40e986
commit c693159
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Showing 5 changed files with 25 additions and 33 deletions.
diff --git a/nao_lola_client/CMakeLists.txt b/nao_lola_client/CMakeLists.txt
@@ -18,10 +18,17 @@ include_directories(
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(nao_lola_sensor_msgs REQUIRED)
 find_package(nao_lola_command_msgs REQUIRED)
 find_package(Boost COMPONENTS system program_options filesystem REQUIRED)
 
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  rclcpp
+  rclcpp_components
+  nao_lola_sensor_msgs
+  nao_lola_command_msgs)
+
 # build msgpack_parser_lib
 add_library(msgpack_parser_lib SHARED
   src/msgpack_parser.cpp)
@@ -40,15 +47,21 @@ ament_target_dependencies(msgpack_packer_lib
   nao_lola_command_msgs
   Boost)
 
-# build nao_lola_client
-add_executable(nao_lola_client
-  src/nao_lola_client_node.cpp
+# build nao_lola_client_node
+add_library(nao_lola_client_node SHARED
   src/nao_lola_client.cpp
   src/connection.cpp)
 
-target_link_libraries(nao_lola_client
+target_link_libraries(nao_lola_client_node
   msgpack_parser_lib
   msgpack_packer_lib)
+ament_target_dependencies(nao_lola_client_node rclcpp_components)
+
+rclcpp_components_register_node(nao_lola_client_node
+  PLUGIN "NaoLolaClient"
+  EXECUTABLE nao_lola_client)
+ament_export_targets(export_nao_lola_client HAS_LIBRARY_TARGET)
+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 
 # Install
 install(TARGETS
@@ -60,7 +73,7 @@ install(DIRECTORY include/
 )
 
 install(
-  TARGETS msgpack_parser_lib msgpack_packer_lib
+  TARGETS msgpack_parser_lib msgpack_packer_lib nao_lola_client_node
   EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib

diff --git a/nao_lola_client/include/nao_lola_client/nao_lola_client.hpp b/nao_lola_client/include/nao_lola_client/nao_lola_client.hpp
@@ -50,7 +50,7 @@
 class NaoLolaClient : public rclcpp::Node
 {
 public:
-  NaoLolaClient();
+  explicit NaoLolaClient(const rclcpp::NodeOptions & options = rclcpp::NodeOptions{});
   virtual ~NaoLolaClient() {}
 
 private:

diff --git a/nao_lola_client/package.xml b/nao_lola_client/package.xml
@@ -14,6 +14,7 @@
   <test_depend>ament_cmake_gtest</test_depend>
 
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>nao_lola_command_msgs</depend>
   <depend>nao_lola_sensor_msgs</depend>
   <depend>boost</depend>

diff --git a/nao_lola_client/src/nao_lola_client.cpp b/nao_lola_client/src/nao_lola_client.cpp
@@ -17,8 +17,8 @@
 #include "nao_lola_client/nao_lola_client.hpp"
 #include "nao_lola_client/msgpack_parser.hpp"
 
-NaoLolaClient::NaoLolaClient()
-: Node("NaoLolaClient")
+NaoLolaClient::NaoLolaClient(const rclcpp::NodeOptions & options)
+: Node("NaoLolaClient", options)
 {
   createPublishers();
   createSubscriptions();
@@ -188,3 +188,6 @@ void NaoLolaClient::createSubscriptions()
     );
   RCLCPP_DEBUG(get_logger(), "Finished creating subscriptions");
 }
+
+#include "rclcpp_components/register_node_macro.hpp"
+RCLCPP_COMPONENTS_REGISTER_NODE(NaoLolaClient)
diff --git a/nao_lola_client/src/nao_lola_client_node.cpp b/nao_lola_client/src/nao_lola_client_node.cpp