[feat]: Add ROS2 component

CMakeLists.txt

@@ -142,6 +142,7 @@ if(rclcpp_FOUND)
   find_package(sensor_msgs REQUIRED)
   find_package(rslidar_msg REQUIRED)
   find_package(std_msgs REQUIRED)                      
+  find_package(rclcpp_components REQUIRED)
 
 else(rclcpp_FOUND)
   message(=============================================================)
@@ -187,6 +188,20 @@ endif(roscpp_FOUND)
 
 #Ros2#
 if(rclcpp_FOUND)
+  add_library(rslidar_sdk_component SHARED
+              node/rslidar_sdk_node_component.cpp
+              src/manager/node_manager.cpp)
+
+  target_link_libraries(rslidar_sdk_component
+                       ${YAML_CPP_LIBRARIES}
+                       ${rs_driver_LIBRARIES})
+  # Component dependencies
+  ament_target_dependencies(rslidar_sdk_component
+    rclcpp
+    rclcpp_components
+    std_msgs
+    sensor_msgs
+    rslidar_msg)
 
   ament_target_dependencies(rslidar_sdk_node 
     rclcpp 
@@ -196,7 +211,12 @@ if(rclcpp_FOUND)
 
   install(TARGETS
     rslidar_sdk_node
-    DESTINATION lib/${PROJECT_NAME})
+    rslidar_sdk_component
+    RUNTIME DESTINATION lib/${PROJECT_NAME}
+    LIBRARY DESTINATION lib)
+
+  # Register component with ament index
+  rclcpp_components_register_nodes(rslidar_sdk_component "robosense::lidar::RSLidarSDKComponent")
 
   install(DIRECTORY
     launch

launch/start_component.launch.py

@@ -0,0 +1,28 @@
+from launch import LaunchDescription
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+def generate_launch_description():
+    container = ComposableNodeContainer(
+        name='rslidar_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='rslidar_sdk',
+                plugin='robosense::lidar::RSLidarSDKComponent',
+                name='rslidar_node',
+                parameters=[{
+                    'config_path': '',
+                }]
+            ),
+        ],
+        output='screen',
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+    ld.add_action(container)
+    return ld

node/rslidar_sdk_node_component.cpp

@@ -0,0 +1,106 @@
+/*********************************************************************************************************************
+Copyright (c) 2020 RoboSense
+All rights reserved
+
+By downloading, copying, installing or using the software you agree to this license. If you do not agree to this
+license, do not download, install, copy or use the software.
+
+License Agreement
+For RoboSense LiDAR SDK Library
+(3-clause BSD License)
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
+following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
+disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
+disclaimer in the documentation and/or other materials provided with the distribution.
+
+3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other contributors may be used
+to endorse or promote products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************************************************************/
+
+#include "manager/node_manager.hpp"
+#include <rs_driver/macro/version.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+#include <memory>
+#include <thread>
+#include <csignal>
+
+namespace robosense
+{
+namespace lidar
+{
+
+class RSLidarSDKComponent : public rclcpp::Node
+{
+public:
+  explicit RSLidarSDKComponent(const rclcpp::NodeOptions & options)
+  : Node("rslidar_sdk_node_component", options)
+  {
+    // Print version information
+    RCLCPP_INFO(this->get_logger(), "********************************************************");
+    RCLCPP_INFO(this->get_logger(), "**********                                    **********");
+    RCLCPP_INFO(this->get_logger(), "**********    RSLidar_SDK Version: v%d.%d.%d    **********",
+                RSLIDAR_VERSION_MAJOR, RSLIDAR_VERSION_MINOR, RSLIDAR_VERSION_PATCH);
+    RCLCPP_INFO(this->get_logger(), "**********                                    **********");
+    RCLCPP_INFO(this->get_logger(), "********************************************************");
+
+    // Set up config path
+    std::string config_path;
+
+#ifdef RUN_IN_ROS_WORKSPACE
+    config_path = ament_index_cpp::get_package_share_directory("rslidar_sdk");
+#else
+    config_path = (std::string)PROJECT_PATH;
+#endif
+
+    config_path += "/config/config.yaml";
+
+    std::string path = this->declare_parameter<std::string>("config_path", "");
+    if (!path.empty())
+    {
+      config_path = path;
+    }
+
+    YAML::Node config;
+    try
+    {
+      config = YAML::LoadFile(config_path);
+      RCLCPP_INFO(this->get_logger(), "--------------------------------------------------------");
+      RCLCPP_INFO(this->get_logger(), "Config loaded from PATH:");
+      RCLCPP_INFO(this->get_logger(), "%s", config_path.c_str());
+      RCLCPP_INFO(this->get_logger(), "--------------------------------------------------------");
+    }
+    catch (...)
+    {
+      RCLCPP_ERROR(this->get_logger(), "The format of config file %s is wrong. Please check (e.g. indentation).", 
+                  config_path.c_str());
+      throw std::runtime_error("Failed to load config file");
+    }
+
+    node_manager_ = std::make_shared<NodeManager>();
+    node_manager_->init(config);
+    node_manager_->start();
+  }
+
+private:
+  std::shared_ptr<NodeManager> node_manager_;
+};
+
+} // namespace lidar
+} // namespace robosense
+
+// Register the component with class_loader
+RCLCPP_COMPONENTS_REGISTER_NODE(robosense::lidar::RSLidarSDKComponent)

package.xml

@@ -15,6 +15,7 @@
   <depend condition="$ROS_VERSION == 1">roscpp</depend>
   <depend condition="$ROS_VERSION == 1">roslib</depend>
   <depend condition="$ROS_VERSION == 2">rslidar_msg</depend>
+  <depend condition="$ROS_VERSION == 2">rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>yaml-cpp</depend>