E-Stop-Manager loadable as component

tu-darmstadt-ros-pkg · Jan 18, 2024 · 39b0e0b · 39b0e0b
1 parent 931e5ea
commit 39b0e0b
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Showing 3 changed files with 15 additions and 1 deletion.
diff --git a/e_stop_manager/CMakeLists.txt b/e_stop_manager/CMakeLists.txt
@@ -5,6 +5,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(e_stop_manager_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(rclcpp_components REQUIRED)
 
 set(CMAKE_CXX_STANDARD 14)
 
@@ -14,15 +15,19 @@ set(CMAKE_CXX_STANDARD 14)
 
 include_directories(include)
 
+# library
 add_library(${PROJECT_NAME} SHARED
         src/e_stop_manager.cpp)
 ament_target_dependencies(${PROJECT_NAME}
         rclcpp
         e_stop_manager_msgs
+        rclcpp_components
         std_msgs
         )
+rclcpp_components_register_nodes(${PROJECT_NAME} "e_stop_manager::EStopManager")
 
 
+# node        
 add_executable(${PROJECT_NAME}_node src/e_stop_manager_node.cpp)
 target_link_libraries(${PROJECT_NAME}_node
         ${PROJECT_NAME}

diff --git a/e_stop_manager/package.xml b/e_stop_manager/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>std_msgs</depend>
   <depend>e_stop_manager_msgs</depend>
+  <depend>rclcpp_components</depend>
   <test_depend>ros_testing</test_depend>
 
   <!-- The export tag contains other, unspecified, tags -->

diff --git a/e_stop_manager/src/e_stop_manager.cpp b/e_stop_manager/src/e_stop_manager.cpp
@@ -170,4 +170,12 @@ namespace e_stop_manager
         }
     }
 
-}
+}// namespace e_stop_manager
+
+#include "rclcpp_components/register_node_macro.hpp"
+
+    // Register the component with class_loader.
+    // This acts as a sort of entry point, allowing the component to be discoverable when its library
+    // is being loaded into a running process.
+    RCLCPP_COMPONENTS_REGISTER_NODE(e_stop_manager::EStopManager);
+