rename nodes

Signed-off-by: Takagi, Isamu <[email protected]>

system/diagnostic_graph_aggregator/src/node/aggregator.cpp

@@ -20,7 +20,7 @@
 namespace diagnostic_graph_aggregator
 {
 
-MainNode::MainNode() : Node("diagnostic_graph_aggregator_aggregator")
+AggregatorNode::AggregatorNode() : Node("aggregator")
 {
   // Init diagnostics graph.
   {
@@ -39,7 +39,7 @@ MainNode::MainNode() : Node("diagnostic_graph_aggregator_aggregator")
     const auto qos_input = rclcpp::QoS(declare_parameter<int64_t>("input_qos_depth"));
     const auto qos_graph = rclcpp::QoS(declare_parameter<int64_t>("graph_qos_depth"));
 
-    const auto callback = std::bind(&MainNode::on_diag, this, _1);
+    const auto callback = std::bind(&AggregatorNode::on_diag, this, _1);
     sub_input_ = create_subscription<DiagnosticArray>("/diagnostics", qos_input, callback);
     pub_graph_ = create_publisher<DiagnosticGraph>("/diagnostics_graph", qos_graph);
 
@@ -51,20 +51,20 @@ MainNode::MainNode() : Node("diagnostic_graph_aggregator_aggregator")
   debug_ = declare_parameter<bool>("use_debug_mode");
 }
 
-MainNode::~MainNode()
+AggregatorNode::~AggregatorNode()
 {
   // for unique_ptr
 }
 
-void MainNode::on_timer()
+void AggregatorNode::on_timer()
 {
   const auto stamp = now();
   pub_graph_->publish(graph_.report(stamp));
   if (debug_) graph_.debug();
   if (modes_) modes_->update(stamp);
 }
 
-void MainNode::on_diag(const DiagnosticArray::ConstSharedPtr msg)
+void AggregatorNode::on_diag(const DiagnosticArray::ConstSharedPtr msg)
 {
   graph_.callback(now(), *msg);
 }
@@ -73,10 +73,10 @@ void MainNode::on_diag(const DiagnosticArray::ConstSharedPtr msg)
 
 int main(int argc, char ** argv)
 {
-  using diagnostic_graph_aggregator::MainNode;
+  using diagnostic_graph_aggregator::AggregatorNode;
   rclcpp::init(argc, argv);
   rclcpp::executors::SingleThreadedExecutor executor;
-  auto node = std::make_shared<MainNode>();
+  auto node = std::make_shared<AggregatorNode>();
   executor.add_node(node);
   executor.spin();
   executor.remove_node(node);

system/diagnostic_graph_aggregator/src/node/aggregator.hpp

@@ -26,11 +26,11 @@
 namespace diagnostic_graph_aggregator
 {
 
-class MainNode : public rclcpp::Node
+class AggregatorNode : public rclcpp::Node
 {
 public:
-  MainNode();
-  ~MainNode();
+  AggregatorNode();
+  ~AggregatorNode();
 
 private:
   Graph graph_;

system/diagnostic_graph_aggregator/src/node/converter.cpp

@@ -60,19 +60,19 @@ std::vector<std::string> complement_paths(const DiagnosticGraph & graph)
   return result;
 }
 
-ToolNode::ToolNode() : Node("diagnostic_graph_aggregator_converter")
+ConverterNode::ConverterNode() : Node("converter")
 {
   using std::placeholders::_1;
   const auto qos_graph = rclcpp::QoS(1);
   const auto qos_array = rclcpp::QoS(1);
 
-  const auto callback = std::bind(&ToolNode::on_graph, this, _1);
+  const auto callback = std::bind(&ConverterNode::on_graph, this, _1);
   sub_graph_ = create_subscription<DiagnosticGraph>("/diagnostics_graph", qos_graph, callback);
   pub_array_ = create_publisher<DiagnosticArray>("/diagnostics_agg", qos_array);
   complement_inner_nodes_ = declare_parameter<bool>("complement_inner_nodes");
 }
 
-void ToolNode::on_graph(const DiagnosticGraph::ConstSharedPtr msg)
+void ConverterNode::on_graph(const DiagnosticGraph::ConstSharedPtr msg)
 {
   DiagnosticArray message;
   message.header.stamp = msg->stamp;
@@ -108,10 +108,10 @@ void ToolNode::on_graph(const DiagnosticGraph::ConstSharedPtr msg)
 
 int main(int argc, char ** argv)
 {
-  using diagnostic_graph_aggregator::ToolNode;
+  using diagnostic_graph_aggregator::ConverterNode;
   rclcpp::init(argc, argv);
   rclcpp::executors::SingleThreadedExecutor executor;
-  auto node = std::make_shared<ToolNode>();
+  auto node = std::make_shared<ConverterNode>();
   executor.add_node(node);
   executor.spin();
   executor.remove_node(node);

system/diagnostic_graph_aggregator/src/node/converter.hpp

@@ -25,10 +25,10 @@
 namespace diagnostic_graph_aggregator
 {
 
-class ToolNode : public rclcpp::Node
+class ConverterNode : public rclcpp::Node
 {
 public:
-  ToolNode();
+  ConverterNode();
 
 private:
   bool complement_inner_nodes_;