feat: components support

CMakeLists.txt

@@ -16,6 +16,9 @@ ament_auto_add_library(laser_scan_filters SHARED src/laser_scan_filters.cpp)
 ament_auto_add_library(laser_filter_chains SHARED
                          src/scan_to_cloud_filter_chain.cpp
                          src/scan_to_scan_filter_chain.cpp)
+rclcpp_components_register_nodes(laser_filter_chains
+                         "ScanToCloudFilterChain"
+                         "ScanToScanFilterChain")
 
 set(FILTER_CHAINS
     scan_to_cloud_filter_chain

package.xml

@@ -20,6 +20,7 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>

src/scan_to_cloud_filter_chain.cpp

@@ -143,3 +143,11 @@ ScanToCloudFilterChain::scanCallback(
 
   cloud_pub_->publish(filtered_cloud);
 }
+
+
+#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(ScanToCloudFilterChain)

src/scan_to_scan_filter_chain.cpp

@@ -98,3 +98,10 @@ void ScanToScanFilterChain::callback(
     output_pub_->publish(msg_);
   }
 }
+
+#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(ScanToScanFilterChain)