feat(remaining_distance_time_calculator): integrate generate_paramete…

…r_library (autowarefoundation#8826) * add parameter description Signed-off-by: mitukou1109 <[email protected]> * use parameter listener Signed-off-by: mitukou1109 <[email protected]> * supress deprecated error Signed-off-by: mitukou1109 <[email protected]> * change scope of compile option to private Signed-off-by: mitukou1109 <[email protected]> --------- Signed-off-by: mitukou1109 <[email protected]>
esteve · Jan 15, 2025 · 6e97b7e · 6e97b7e
1 parent 9ff93ff
commit 6e97b7e
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Showing 5 changed files with 23 additions and 8 deletions.
diff --git a/planning/autoware_remaining_distance_time_calculator/CMakeLists.txt b/planning/autoware_remaining_distance_time_calculator/CMakeLists.txt
@@ -4,10 +4,22 @@ project(autoware_remaining_distance_time_calculator)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
+generate_parameter_library(remaining_distance_time_calculator_parameters
+  param/remaining_distance_time_calculator_parameters.yaml
+)
+
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/remaining_distance_time_calculator_node.cpp
 )
 
+target_link_libraries(${PROJECT_NAME}
+  remaining_distance_time_calculator_parameters
+)
+
+target_compile_options(${PROJECT_NAME} PRIVATE
+  -Wno-error=deprecated-declarations
+)
+
 rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN "autoware::remaining_distance_time_calculator::RemainingDistanceTimeCalculatorNode"
   EXECUTABLE ${PROJECT_NAME}_node

diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml
@@ -18,6 +18,7 @@
   <depend>autoware_route_handler</depend>
   <depend>autoware_test_utils</depend>
   <depend>autoware_universe_utils</depend>
+  <depend>generate_parameter_library</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>

diff --git a/...maining_distance_time_calculator/param/remaining_distance_time_calculator_parameters.yaml b/...maining_distance_time_calculator/param/remaining_distance_time_calculator_parameters.yaml
@@ -0,0 +1,4 @@
+remaining_distance_time_calculator:
+  update_rate:
+    type: double
+    description: Timer callback period. [Hz]
diff --git a/...toware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp b/...toware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp
@@ -65,9 +65,11 @@ RemainingDistanceTimeCalculatorNode::RemainingDistanceTimeCalculatorNode(
     "~/output/mission_remaining_distance_time",
     rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable());
 
-  node_param_.update_rate = declare_parameter<double>("update_rate");
+  param_listener_ = std::make_shared<::remaining_distance_time_calculator::ParamListener>(
+    this->get_node_parameters_interface());
+  const auto param = param_listener_->get_params();
 
-  const auto period_ns = rclcpp::Rate(node_param_.update_rate).period();
+  const auto period_ns = rclcpp::Rate(param.update_rate).period();
   timer_ = rclcpp::create_timer(
     this, get_clock(), period_ns, std::bind(&RemainingDistanceTimeCalculatorNode::on_timer, this));
 }

diff --git a/...toware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp b/...toware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp
@@ -17,6 +17,7 @@
 
 #include <autoware/route_handler/route_handler.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <remaining_distance_time_calculator_parameters.hpp>
 
 #include <autoware_internal_msgs/msg/mission_remaining_distance_time.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
@@ -39,11 +40,6 @@
 namespace autoware::remaining_distance_time_calculator
 {
 
-struct NodeParam
-{
-  double update_rate{0.0};
-};
-
 class RemainingDistanceTimeCalculatorNode : public rclcpp::Node
 {
 public:
@@ -86,7 +82,7 @@ class RemainingDistanceTimeCalculatorNode : public rclcpp::Node
   double remaining_time_;
 
   // Parameter
-  NodeParam node_param_;
+  std::shared_ptr<::remaining_distance_time_calculator::ParamListener> param_listener_;
 
   // Callbacks
   void on_timer();