feat(autoware_gnss_poser): porting from universe to core, autoware_gn…

…ss_poser, remove package dependency to <autoware/component_interface_utils/rclcpp.hpp>: v0.1 Signed-off-by: liuXinGangChina <[email protected]>
autowarefoundation · Jan 14, 2025 · aef1abf · aef1abf
1 parent edcd449
commit aef1abf
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Showing 3 changed files with 4 additions and 9 deletions.
diff --git a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp
@@ -15,7 +15,6 @@
 #define AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_
 
 #include <autoware/component_interface_specs/map.hpp>
-#include <autoware/component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_sensing_msgs/msg/gnss_ins_orientation_stamped.hpp>
@@ -79,8 +78,7 @@ class GNSSPoser : public rclcpp::Node
   tf2_ros::TransformListener tf2_listener_;
   tf2_ros::TransformBroadcaster tf2_broadcaster_;
 
-  autoware::component_interface_utils::Subscription<MapProjectorInfo>::SharedPtr
-    sub_map_projector_info_;
+  rclcpp::Subscription<MapProjectorInfo::Message>::SharedPtr sub_map_projector_info_;
   rclcpp::Subscription<sensor_msgs::msg::NavSatFix>::SharedPtr nav_sat_fix_sub_;
   rclcpp::Subscription<autoware_sensing_msgs::msg::GnssInsOrientationStamped>::SharedPtr
     autoware_orientation_sub_;

diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml
@@ -21,7 +21,6 @@
   <build_depend>libboost-dev</build_depend>
 
   <depend>autoware_component_interface_specs</depend>
-  <depend>autoware_component_interface_utils</depend>
   <depend>autoware_geography_utils</depend>
   <depend>autoware_sensing_msgs</depend>
   <depend>geographic_msgs</depend>

diff --git a/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp b/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp
@@ -39,11 +39,9 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
   gnss_pose_pub_method_(static_cast<int>(declare_parameter<int>("gnss_pose_pub_method")))
 {
   // Subscribe to map_projector_info topic
-  const auto adaptor = autoware::component_interface_utils::NodeAdaptor(this);
-  adaptor.init_sub(
-    sub_map_projector_info_, [this](const MapProjectorInfo::Message::ConstSharedPtr msg) {
-      callback_map_projector_info(msg);
-    });
+  sub_map_projector_info_ = create_subscription<MapProjectorInfo::Message>(
+    MapProjectorInfo::name, rclcpp::QoS{1},
+    std::bind(&GNSSPoser::callback_map_projector_info, this, std::placeholders::_1));
 
   // Set up position buffer
   int buff_epoch = static_cast<int>(declare_parameter<int>("buff_epoch"));