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[Dashing] backport rclcpp_components_register_node (#935)
* Cmake infrastructure for creating components (#784) *cmake macro to create components for libraries with multiple nodes Signed-off-by: Siddharth Kucheria <kucheria@usc.edu> Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * fix for multiple nodes not being recognized (#790) Signed-off-by: Siddharth Kucheria <kucheria@usc.edu> Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * fix linter issue (#795) Signed-off-by: Siddharth Kucheria <kucheria@usc.edu> Signed-off-by: Shane Loretz <sloretz@openrobotics.org>
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rclcpp_components/cmake/rclcpp_components_register_node.cmake
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# Copyright 2019 Open Source Robotics Foundation, Inc. | ||
# | ||
# Licensed under the Apache License, Version 2.0 (the "License"); | ||
# you may not use this file except in compliance with the License. | ||
# You may obtain a copy of the License at | ||
# | ||
# http://www.apache.org/licenses/LICENSE-2.0 | ||
# | ||
# Unless required by applicable law or agreed to in writing, software | ||
# distributed under the License is distributed on an "AS IS" BASIS, | ||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
# See the License for the specific language governing permissions and | ||
# limitations under the License. | ||
# | ||
# usage: rclcpp_components_register_node( | ||
# <target> PLUGIN <component> EXECUTABLE <node>) | ||
# | ||
# Register an rclcpp component with the ament | ||
# resource index and create an executable. | ||
# | ||
# :param target: the shared library target | ||
# :type target: string | ||
# :param PLUGIN: the plugin name | ||
# :type PLUGIN: string | ||
# :type EXECUTABLE: the node's executable name | ||
# :type EXECUTABLE: string | ||
# | ||
macro(rclcpp_components_register_node target) | ||
cmake_parse_arguments(ARGS "" "PLUGIN;EXECUTABLE" "" ${ARGN}) | ||
set(component ${ARGS_PLUGIN}) | ||
set(node ${ARGS_EXECUTABLE}) | ||
_rclcpp_components_register_package_hook() | ||
set(_path "lib") | ||
set(library_name "$<TARGET_FILE_NAME:${target}>") | ||
if(WIN32) | ||
set(_path "bin") | ||
endif() | ||
set(_RCLCPP_COMPONENTS__NODES | ||
"${_RCLCPP_COMPONENTS__NODES}${component};${_path}/$<TARGET_FILE_NAME:${target}>\n") | ||
configure_file(${rclcpp_components_NODE_TEMPLATE} | ||
${PROJECT_BINARY_DIR}/rclcpp_components/node_main_configured_${node}.cpp.in) | ||
file(GENERATE OUTPUT ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_${node}.cpp | ||
INPUT ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_configured_${node}.cpp.in) | ||
add_executable(${node} ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_${node}.cpp) | ||
ament_target_dependencies(${node} | ||
"rclcpp" | ||
"class_loader" | ||
"rclcpp_components") | ||
install(TARGETS | ||
${node} | ||
DESTINATION lib/${PROJECT_NAME}) | ||
endmacro() |
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// Copyright 2019 Open Source Robotics Foundation, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#include <memory> | ||
#include <string> | ||
#include <vector> | ||
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#include "class_loader/class_loader.hpp" | ||
#include "rclcpp/rclcpp.hpp" | ||
#include "rclcpp_components/node_factory.hpp" | ||
#include "rclcpp_components/node_factory_template.hpp" | ||
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#define NODE_MAIN_LOGGER_NAME "@node@" | ||
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int main(int argc, char * argv[]) | ||
{ | ||
auto args = rclcpp::init_and_remove_ros_arguments(argc, argv); | ||
rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME); | ||
rclcpp::executors::SingleThreadedExecutor exec; | ||
rclcpp::NodeOptions options; | ||
options.arguments(args); | ||
std::vector<class_loader::ClassLoader * > loaders; | ||
std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers; | ||
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std::string library_name = "@library_name@"; | ||
std::string class_name = "rclcpp_components::NodeFactoryTemplate<@component@>"; | ||
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RCLCPP_DEBUG(logger, "Load library %s", library_name.c_str()); | ||
auto loader = new class_loader::ClassLoader(library_name); | ||
auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>(); | ||
for (auto clazz : classes) { | ||
std::string name = clazz.c_str(); | ||
if (!(name.compare(class_name))) { | ||
RCLCPP_DEBUG(logger, "Instantiate class %s", clazz.c_str()); | ||
auto node_factory = loader->createInstance<rclcpp_components::NodeFactory>(clazz); | ||
auto wrapper = node_factory->create_node_instance(options); | ||
auto node = wrapper.get_node_base_interface(); | ||
node_wrappers.push_back(wrapper); | ||
exec.add_node(node); | ||
} | ||
} | ||
loaders.push_back(loader); | ||
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exec.spin(); | ||
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for (auto wrapper : node_wrappers) { | ||
exec.remove_node(wrapper.get_node_base_interface()); | ||
} | ||
node_wrappers.clear(); | ||
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rclcpp::shutdown(); | ||
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return 0; | ||
} |