load image_rotate::ImageRotateNode as component

ros-perception · Jan 18, 2024 · 6af8973 · 6af8973
1 parent 80c4178
commit 6af8973
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Showing 3 changed files with 7 additions and 6 deletions.
diff --git a/image_rotate/include/image_rotate/image_rotate_node.hpp b/image_rotate/include/image_rotate/image_rotate_node.hpp
@@ -71,7 +71,7 @@ struct ImageRotateConfig
 class ImageRotateNode : public rclcpp::Node
 {
 public:
-  IMAGE_ROTATE_PUBLIC ImageRotateNode();
+  IMAGE_ROTATE_PUBLIC ImageRotateNode(const rclcpp::NodeOptions & options);
 
 private:
   const std::string frameWithDefault(const std::string & frame, const std::string & image_frame);

diff --git a/image_rotate/src/image_rotate.cpp b/image_rotate/src/image_rotate.cpp
@@ -46,7 +46,8 @@ int main(int argc, char ** argv)
   }
 
   rclcpp::init(argc, argv);
-  auto node = std::make_shared<image_rotate::ImageRotateNode>();
+  rclcpp::NodeOptions options;
+  auto node = std::make_shared<image_rotate::ImageRotateNode>(options);
 
   rclcpp::spin(node);
   rclcpp::shutdown();

diff --git a/image_rotate/src/image_rotate_node.cpp b/image_rotate/src/image_rotate_node.cpp
@@ -69,8 +69,8 @@
 namespace image_rotate
 {
 
-ImageRotateNode::ImageRotateNode()
-: rclcpp::Node("ImageRotateNode")
+ImageRotateNode::ImageRotateNode(const rclcpp::NodeOptions& options)
+: rclcpp::Node("ImageRotateNode", options)
 {
   config_.target_frame_id = this->declare_parameter("target_frame_id", std::string(""));
   config_.target_x = this->declare_parameter("target_x", 0.0);
@@ -361,7 +361,7 @@ void ImageRotateNode::onInit()
 }
 }  // namespace image_rotate
 
-#include "class_loader/register_macro.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
 
 // Register the component with class_loader.
-CLASS_LOADER_REGISTER_CLASS(image_rotate::ImageRotateNode, rclcpp::Node)
+RCLCPP_COMPONENTS_REGISTER_NODE(image_rotate::ImageRotateNode)