Merge pull request #15 from tier4/fix/pubsub_interface

update pub/sub interface

control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp

@@ -249,8 +249,7 @@ class AEB : public rclcpp::Node
   explicit AEB(const rclcpp::NodeOptions & node_options);
 
   // subscriber
-  agnocast::PollingSubscriber<PointCloud2> sub_point_cloud_{
-    this->get_node_topics_interface()->resolve_topic_name("~/input/pointcloud")};
+  agnocast::PollingSubscriber<PointCloud2> sub_point_cloud_{this, "~/input/pointcloud"};
   autoware::universe_utils::InterProcessPollingSubscriber<VelocityReport> sub_velocity_{
     this, "~/input/velocity"};
   autoware::universe_utils::InterProcessPollingSubscriber<Imu> sub_imu_{this, "~/input/imu"};

perception/detected_object_validation/src/object_lanelet_filter.cpp

@@ -61,10 +61,7 @@ ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & nod
     "input/object", rclcpp::QoS{1}, std::bind(&ObjectLaneletFilterNode::objectCallback, this, _1));
 
   object_pub_ = agnocast::create_publisher<autoware_perception_msgs::msg::DetectedObjects>(
-    this->get_node_base_interface(),
-    this->get_node_topics_interface()->resolve_topic_name("output/object"), rclcpp::QoS{1});
-  // object_pub_ = this->create_publisher<autoware_perception_msgs::msg::DetectedObjects>(
-  //   "output/object", rclcpp::QoS{1});
+    this, "output/object", rclcpp::QoS{1});
 
   debug_publisher_ =
     std::make_unique<autoware::universe_utils::DebugPublisher>(this, "object_lanelet_filter");

perception/multi_object_tracker/src/processor/input_manager.cpp

@@ -220,12 +220,7 @@ void InputManager::init(const std::vector<InputChannel> & input_channels)
       std::bind(&InputStream::onMessage, input_streams_.at(i), std::placeholders::_1);
 
     sub_objects_ = agnocast::create_subscription<DetectedObjects>(
-      node_.get_node_base_interface(),
-      node_.get_node_topics_interface()->resolve_topic_name(input_channels[i].input_topic),
-      rclcpp::QoS{1}, func);
-
-    // sub_objects_array_.at(i) = node_.create_subscription<DetectedObjects>(
-    //   input_channels[i].input_topic, rclcpp::QoS{1}, func);
+      &node_, input_channels[i].input_topic, rclcpp::QoS{1}, func);
   }
 
   // Check if any spawn enabled input streams

perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp

@@ -252,10 +252,8 @@ OccupancyGridMapOutlierFilterComponent::OccupancyGridMapOutlierFilterComponent(
   sync_ptr_->registerCallback(std::bind(
     &OccupancyGridMapOutlierFilterComponent::onOccupancyGridMapAndPointCloud2, this,
     std::placeholders::_1, std::placeholders::_2));
-  pointcloud_pub_ = agnocast::create_publisher<PointCloud2>(
-    this->get_node_base_interface(),
-    this->get_node_topics_interface()->resolve_topic_name("~/output/pointcloud"),
-    rclcpp::SensorDataQoS());
+  pointcloud_pub_ =
+    agnocast::create_publisher<PointCloud2>(this, "~/output/pointcloud", rclcpp::SensorDataQoS());
 
   /* Radius search 2d filter */
   if (use_radius_search_2d_filter) {

planning/autoware_costmap_generator/nodes/autoware_costmap_generator/costmap_generator_node.cpp

@@ -201,9 +201,8 @@ CostmapGenerator::CostmapGenerator(const rclcpp::NodeOptions & node_options)
   sub_objects_ = this->create_subscription<autoware_perception_msgs::msg::PredictedObjects>(
     "~/input/objects", 1, std::bind(&CostmapGenerator::onObjects, this, _1));
   sub_points_ = agnocast::create_subscription<sensor_msgs::msg::PointCloud2>(
-    get_node_base_interface(),
-    this->get_node_topics_interface()->resolve_topic_name("~/input/points_no_ground"),
-    rclcpp::SensorDataQoS(), std::bind(&CostmapGenerator::onPoints, this, _1));
+    this, "~/input/points_no_ground", rclcpp::SensorDataQoS(),
+    std::bind(&CostmapGenerator::onPoints, this, _1));
   sub_lanelet_bin_map_ = this->create_subscription<autoware_map_msgs::msg::LaneletMapBin>(
     "~/input/vector_map", rclcpp::QoS{1}.transient_local(),
     std::bind(&CostmapGenerator::onLaneletMapBin, this, _1));

planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp

@@ -75,7 +75,7 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
     sub_predicted_objects_{this, "~/input/dynamic_objects"};
 
   agnocast::PollingSubscriber<sensor_msgs::msg::PointCloud2> sub_no_ground_pointcloud_{
-    this->get_node_topics_interface()->resolve_topic_name("~/input/no_ground_pointcloud")};
+    this, "~/input/no_ground_pointcloud"};
 
   autoware::universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry>
     sub_vehicle_odometry_{this, "~/input/vehicle_odometry"};

planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp

@@ -68,7 +68,7 @@ class MotionVelocityPlannerNode : public rclcpp::Node
     autoware_perception_msgs::msg::PredictedObjects>
     sub_predicted_objects_{this, "~/input/dynamic_objects"};
   agnocast::PollingSubscriber<sensor_msgs::msg::PointCloud2> sub_no_ground_pointcloud_{
-    this->get_node_topics_interface()->resolve_topic_name("~/input/no_ground_pointcloud")};
+    this, "~/input/no_ground_pointcloud"};
   autoware::universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry>
     sub_vehicle_odometry_{this, "~/input/vehicle_odometry"};
   autoware::universe_utils::InterProcessPollingSubscriber<

sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp

@@ -162,15 +162,14 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro
       cloud_stdmap_tmp_ = cloud_stdmap_;
 
       // CAN'T use auto type here.
-      std::function<void(const agnocast::ipc_shared_ptr<sensor_msgs::msg::PointCloud2> msg)> cb = std::bind(
-        &PointCloudConcatenateDataSynchronizerComponent::cloud_callback, this,
-        std::placeholders::_1, input_topics_[d]);
+      std::function<void(const agnocast::ipc_shared_ptr<sensor_msgs::msg::PointCloud2> msg)> cb =
+        std::bind(
+          &PointCloudConcatenateDataSynchronizerComponent::cloud_callback, this,
+          std::placeholders::_1, input_topics_[d]);
 
       filters_[d].reset();
       filters_[d] = agnocast::create_subscription<sensor_msgs::msg::PointCloud2>(
-        get_node_base_interface(),
-        this->get_node_topics_interface()->resolve_topic_name(input_topics_[d]),
-        rclcpp::SensorDataQoS().keep_last(maximum_queue_size_), cb);
+        this, input_topics_[d], rclcpp::SensorDataQoS().keep_last(maximum_queue_size_), cb);
     }
 
     if (input_twist_topic_type_ == "twist") {
@@ -544,7 +543,8 @@ void PointCloudConcatenateDataSynchronizerComponent::setPeriod(const int64_t new
 }
 
 void PointCloudConcatenateDataSynchronizerComponent::cloud_callback(
-  const agnocast::ipc_shared_ptr<sensor_msgs::msg::PointCloud2> input_ptr, const std::string & topic_name)
+  const agnocast::ipc_shared_ptr<sensor_msgs::msg::PointCloud2> input_ptr,
+  const std::string & topic_name)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   sensor_msgs::msg::PointCloud2::SharedPtr xyzi_input_ptr(new sensor_msgs::msg::PointCloud2());

sensing/pointcloud_preprocessor/src/filter.cpp

@@ -107,9 +107,7 @@ pointcloud_preprocessor::Filter::Filter(
   {
     if (use_agnocast_publish_) {
       pub_output_agnocast_ = agnocast::create_publisher<PointCloud2>(
-        this->get_node_base_interface(),
-        this->get_node_topics_interface()->resolve_topic_name("output"),
-        rclcpp::SensorDataQoS().keep_last(max_queue_size_));
+        this, "output", rclcpp::SensorDataQoS().keep_last(max_queue_size_));
     } else {
       pub_output_ = this->create_publisher<PointCloud2>(
         "output", rclcpp::SensorDataQoS().keep_last(max_queue_size_));
@@ -181,8 +179,7 @@ void pointcloud_preprocessor::Filter::subscribe(const std::string & filter_name)
         &Filter::input_indices_callback_agnocast, this, std::placeholders::_1,
         PointIndicesConstPtr());
       sub_input_agnocast_ = agnocast::create_subscription<PointCloud2>(
-        get_node_base_interface(), this->get_node_topics_interface()->resolve_topic_name("input"),
-        rclcpp::SensorDataQoS().keep_last(max_queue_size_), cb);
+        this, "input", rclcpp::SensorDataQoS().keep_last(max_queue_size_), cb);
     } else {
       std::function<void(const PointCloud2ConstPtr msg)> cb =
         std::bind(callback, this, std::placeholders::_1, PointIndicesConstPtr());