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Create node executables using rclcpp_component macros #198

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merged 2 commits into from
Jul 23, 2024
Merged

Create node executables using rclcpp_component macros #198

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6fdfd76
Create node executables using rclcpp_component macros
bjsowa Jul 17, 2024
2a9d757
Add a comment about rclcpp components macro
bjsowa Jul 22, 2024
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22 changes: 13 additions & 9 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,17 +16,21 @@ ament_auto_add_library(laser_scan_filters SHARED src/laser_scan_filters.cpp)
ament_auto_add_library(laser_filter_chains SHARED
src/scan_to_cloud_filter_chain.cpp
src/scan_to_scan_filter_chain.cpp)
rclcpp_components_register_nodes(laser_filter_chains
"ScanToCloudFilterChain"
"ScanToScanFilterChain")

set(FILTER_CHAINS
scan_to_cloud_filter_chain
scan_to_scan_filter_chain
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Could you add a comment describing what rclcpp_components_register_node does here? It's a very cool and useful macro, but the documentation isn't super easy to find, and it'd be nice to have a summary here.

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I added a comment that briefly describes the macro

# The rclcpp_components_register_node macro registers an rclcpp component for the node with
# the ament resource index AND creates a templated executable that spins the given node.

rclcpp_components_register_node(
laser_filter_chains
PLUGIN "ScanToCloudFilterChain"
EXECUTABLE "scan_to_cloud_filter_chain"
)

rclcpp_components_register_node(
laser_filter_chains
PLUGIN "ScanToScanFilterChain"
EXECUTABLE "scan_to_scan_filter_chain"
)
foreach(FILTER_CHAIN ${FILTER_CHAINS})
ament_auto_add_executable(${FILTER_CHAIN} src/${FILTER_CHAIN}_node.cpp)
endforeach()

ament_auto_add_executable(generic_laser_filter_node src/generic_laser_filter_node.cpp)

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59 changes: 0 additions & 59 deletions src/scan_to_cloud_filter_chain_node.cpp
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59 changes: 0 additions & 59 deletions src/scan_to_scan_filter_chain_node.cpp
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