Make Player a rosbag2 component

Author: roncapat

rosbag2/CMakeLists.txt

@@ -1,5 +1,63 @@
 cmake_minimum_required(VERSION 3.5)
 project(rosbag2)
 
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+if(CMAKE_BUILD_TYPE STREQUAL "Debug" AND MSVC)
+  # /bigobj is needed to avoid error C1128:
+  #   https://msdn.microsoft.com/en-us/library/8578y171.aspx
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj")
+endif()
+
+# Windows supplies macros for min and max by default. We should only use min and max from stl
+if(WIN32)
+  add_definitions(-DNOMINMAX)
+endif()
+
 find_package(ament_cmake REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rosbag2_transport REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED
+  src/rosbag2/component_player.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  rclcpp::rclcpp
+  ${rclcpp_components_TARGETS}
+  rosbag2_transport::rosbag2_transport
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "rosbag2::Player"
+  EXECUTABLE player
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+ament_export_libraries(${PROJECT_NAME})
+
+ament_export_dependencies(
+  rclcpp_components
+  rosbag2_transport
+)
+
 ament_package()

rosbag2/src/rosbag2/component_player.cpp

@@ -0,0 +1,14 @@
+#include "rosbag2_transport/player.hpp"
+
+namespace rosbag2 {
+class Player : public rosbag2_transport::Player {
+    using rosbag2_transport::Player::Player;
+};
+}
+
+#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(rosbag2::Player)