From 7fa991135ce1e89e2244ad357918be28e0f1f0a8 Mon Sep 17 00:00:00 2001
From: jbrhm <jrabraham1904@gmail.com>
Date: Tue, 22 Oct 2024 14:21:08 -0400
Subject: [PATCH] better launching

---
 CMakeLists.txt              |  6 +++---
 cmake/macros.cmake          |  9 ++++++---
 launch/perception.launch.py | 12 +++++++++---
 3 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d1a3a1c7..e32b8453 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -258,7 +258,7 @@ if(ZED_FOUND AND CUDA_FOUND)
     # rclcpp_components_register_nodes(zed "mrover::ZedWrapper")
     # set(node_plugins "${node_plugins}mrover::ZedWrapper;$<TARGET_FILE:zed_wrapper>\n")
 
-    mrover_add_component(zed ZedWrapper perception/zed_wrapper/*.c* perception/zed_wrapper/pch.hpp)
+    mrover_add_component(zed perception/zed_wrapper/*.c* perception/zed_wrapper/pch.hpp ZedWrapper)
 	mrover_link_component(zed parameter_utils lie MANIF::manif ${CUDA_LIBRARIES} loop_profiler cuda_compiler_flags)
 	mrover_ament_component(zed rclcpp rclcpp_components sensor_msgs ZED CUDA tf2 tf2_ros)
 
@@ -270,7 +270,7 @@ if(ZED_FOUND AND CUDA_FOUND)
 	target_link_libraries(tensorrt PRIVATE opencv_core opencv_dnn opencv_imgproc lie nvinfer nvonnxparser tbb cuda_compiler_flags)
 
 	# Object Detector
-	mrover_add_component(object_detector StereoObjectDetector perception/object_detector/*.c* src/perception/object_detector/pch.hpp)
+	mrover_add_component(object_detector perception/object_detector/*.c* src/perception/object_detector/pch.hpp StereoObjectDetector ImageObjectDetector)
 	target_compile_options(zed PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-std=c++20>)
     mrover_link_component(object_detector opencv_core opencv_dnn opencv_imgproc lie tbb tensorrt opencv_imgcodecs opencv_highgui loop_profiler parameter_utils cuda_compiler_flags)
 	mrover_ament_component(object_detector rclcpp sensor_msgs rclcpp_components CUDA tf2 tf2_ros)
@@ -302,7 +302,7 @@ if (Gst_FOUND AND GstApp_FOUND)
         target_compile_definitions(websocket_server PUBLIC BOOST_ASIO_NO_DEPRECATED)
         ament_target_dependencies(websocket_server rclcpp)
 
-        mrover_add_component(gst_websocket_streamer GstWebsocketStreamer esw/gst_websocket_streamer/*.c* esw/gst_websocket_streamer/pch.hpp)
+        mrover_add_component(gst_websocket_streamer esw/gst_websocket_streamer/*.c* esw/gst_websocket_streamer/pch.hpp GstWebsocketStreamer)
 		mrover_link_component(gst_websocket_streamer PkgConfig::Gst PkgConfig::GstApp PkgConfig::LibUdev opencv_core opencv_imgcodecs websocket_server)
 		mrover_ament_component(gst_websocket_streamer rclcpp rclcpp_components sensor_msgs)
     endif ()
diff --git a/cmake/macros.cmake b/cmake/macros.cmake
index dc553a11..b82632be 100644
--- a/cmake/macros.cmake
+++ b/cmake/macros.cmake
@@ -45,7 +45,7 @@ macro(mrover_add_node name sources)
     endif ()
 endmacro()
 
-macro(mrover_add_component name class_name sources includes)
+macro(mrover_add_component name sources includes)
 	# Create Executable
 	mrover_add_node(${name} ${sources})
 	rosidl_target_interfaces(${name} ${PROJECT_NAME} "rosidl_typesupport_cpp")
@@ -54,9 +54,12 @@ macro(mrover_add_component name class_name sources includes)
 	set(component_name ${name}_component)
 	mrover_add_library(${component_name} ${sources} ${includes} SHARED)
 	rosidl_target_interfaces(${component_name} ${PROJECT_NAME} "rosidl_typesupport_cpp")
-    rclcpp_components_register_nodes(${component_name} "mrover::${class_name}")
+    foreach(node ${ARGN})
+        message("Registering ${node}")
+        rclcpp_components_register_nodes(${component_name} "mrover::${node}")
+        set(node_plugins "${node_plugins}mrover::${node};$<TARGET_FILE:${component_name}>\n")
+    endforeach()
     target_compile_definitions(${component_name} PRIVATE "COMPOSITION_BUILDING_DLL")
-    set(node_plugins "${node_plugins}mrover::${class_name};$<TARGET_FILE:${component_name}>\n")
     install(CODE "execute_process( \
             COMMAND ${CMAKE_COMMAND} -E create_symlink \
             ${CMAKE_CURRENT_LIST_DIR}/../../build/${PROJECT_NAME}/lib${component_name}.so \
diff --git a/launch/perception.launch.py b/launch/perception.launch.py
index af7562a9..8d70d56b 100644
--- a/launch/perception.launch.py
+++ b/launch/perception.launch.py
@@ -21,14 +21,20 @@ def generate_launch_description():
         composable_node_descriptions=[
             ComposableNode(
                 package="mrover",
-                plugin="mrover::object_detector_component",
+                plugin="mrover::StereoObjectDetector",
                 name="object_detector_component",
                 parameters=[Path(get_package_share_directory("mrover"), "config", "object_detector.yaml")],
             ),
             ComposableNode(
                 package="mrover",
-                plugin="mrover::zed_wrapper_component",
-                name="zed_wrapper_component",
+                plugin="mrover::ImageObjectDetector",
+                name="object_detector_component",
+                parameters=[Path(get_package_share_directory("mrover"), "config", "object_detector.yaml")],
+            ),
+            ComposableNode(
+                package="mrover",
+                plugin="mrover::ZedWrapper",
+                name="zed_component",
                 parameters=[Path(get_package_share_directory("mrover"), "config", "zed.yaml")],
             ),
         ],