Declare as components

ros2 · Jul 20, 2023 · 0a2b773 · 0a2b773
1 parent 799c00d
commit 0a2b773
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Showing 7 changed files with 20 additions and 3 deletions.
diff --git a/rosbag2_storage/src/rosbag2_storage/storage_options.cpp b/rosbag2_storage/src/rosbag2_storage/storage_options.cpp
@@ -97,7 +97,7 @@ void declare_storage_options_rw_params(std::shared_ptr<rclcpp::Node> nh, Storage
   // std::unordered_map<std::string, std::string> custom_data{};
   declare_storage_options_r_params(nh, so);
 }
-}
+}  // namespace rosbag2_storage
 
 namespace YAML
 {

diff --git a/rosbag2_transport/CMakeLists.txt b/rosbag2_transport/CMakeLists.txt
@@ -31,6 +31,7 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(keyboard_handler REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rosbag2_compression REQUIRED)
@@ -57,6 +58,7 @@ target_link_libraries(${PROJECT_NAME}
   keyboard_handler::keyboard_handler
   rcl::rcl
   rclcpp::rclcpp
+  rclcpp_components::rclcpp_components
   rcutils::rcutils
   rmw::rmw
   rosbag2_compression::rosbag2_compression

diff --git a/rosbag2_transport/package.xml b/rosbag2_transport/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>  
   <depend>rosbag2_compression</depend>
   <depend>rosbag2_cpp</depend>
   <depend>rosbag2_interfaces</depend>

diff --git a/rosbag2_transport/src/rosbag2_transport/play_options.cpp b/rosbag2_transport/src/rosbag2_transport/play_options.cpp
@@ -152,4 +152,4 @@ void declare_play_options_rw_params(std::shared_ptr<rclcpp::Node> nh, PlayOption
     "play.disable_loan_message",
     false);
 }
-}
+}  // namespace rosbag2_transport
diff --git a/rosbag2_transport/src/rosbag2_transport/player.cpp b/rosbag2_transport/src/rosbag2_transport/player.cpp
@@ -962,3 +962,10 @@ void Player::publish_clock_update(const rclcpp::Time & time)
 }
 
 }  // namespace rosbag2_transport
+
+#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(rosbag2_transport::Player)
diff --git a/rosbag2_transport/src/rosbag2_transport/record_options.cpp b/rosbag2_transport/src/rosbag2_transport/record_options.cpp
@@ -134,7 +134,7 @@ void declare_record_options_rw_params(std::shared_ptr<rclcpp::Node> nh, RecordOp
     "record.use_sim_time",
     false);
 }
-}
+}  // namespace rosbag2_transport
 
 namespace YAML
 {

diff --git a/rosbag2_transport/src/rosbag2_transport/recorder.cpp b/rosbag2_transport/src/rosbag2_transport/recorder.cpp
@@ -772,3 +772,10 @@ Recorder::stop_discovery()
 }
 
 }  // namespace rosbag2_transport
+
+#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(rosbag2_transport::Recorder)