Apply Node Composition Using `rclcpp_components` to All Nodes
Description
After the release of Dashing, composable nodes should be implemented using rclcpp_components
. See these instructions and this tutorial. This is not currently the case in the Autoware.Auto stack.
Expected behavior
Autoware.Auto should follow best-practices. In this case, it also enables dynamic runtime composition, which is not possible without rclcpp_components
.
Definition of Done
-
All nodes in Autoware.Auto follow the Composable Node pattern (detail after discussion) -
All nodes in Autoware.Auto are registered as Components with rclcpp_components
Packages that still use a main file:
-
euclidean_cluster_nodes - !532 (merged) -
joystick_vehicle_interface - !538 (merged) -
lgsvl_interface !595 (merged) -
lidar_integration(won't run in real time, only for tests, no need for compositing) -
ndt_nodes - !559 (merged) -
point_cloud_filter_transform_nodes -
point_cloud_fusion !580 (merged) -
pure_pursuit_nodes !590 (merged) -
ray_ground_classifier_nodes !531 (merged) -
recordreplay_planner_node !596 (merged) -
spinnaker_camera_node !579 (merged) -
state_estimation_node !597 (merged) -
trajectory_spoofer - !508 (merged) -
velodyne_node - !789 (merged) -
voxel_grid_nodes - !506 (merged) -
xsens_node
Edited by Esteve Fernandez