fix composable node convert multithreaded executor

CMakeLists.txt

@@ -29,14 +29,11 @@ endif()
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-ament_auto_add_library(cargo_loading_service SHARED
+ament_auto_add_executable(cargo_loading_service
   src/cargo_loading_service.cpp
+  src/cargo_loading_service_node.cpp
 )
 
-rclcpp_components_register_node(cargo_loading_service
-  PLUGIN "cargo_loading_service::CargoLoadingService"
-  EXECUTABLE cargo_loading_service_node)
-
 ament_auto_package(INSTALL_TO_SHARE
   launch
 )

launch/cargo_loading_service.launch.xml

@@ -0,0 +1,20 @@
+<!--
+    Copyright 2023 Tier IV, Inc.
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+-->
+
+<launch>
+  <node pkg="cargo_loading_service" exec="cargo_loading_service" name="cargo_loading_service" output="screen">
+  </node>
+</launch>

src/cargo_loading_service.cpp

@@ -228,7 +228,3 @@ void CargoLoadingService::onInfrastructureStatus(const InfrastructureStateArray:
     this->get_logger(), "InfrastructureStatus: %s", rosidl_generator_traits::to_yaml(*msg).c_str());
 }
 }  // namespace cargo_loading_service
-
-#include "rclcpp_components/register_node_macro.hpp"
-
-RCLCPP_COMPONENTS_REGISTER_NODE(cargo_loading_service::CargoLoadingService)

src/cargo_loading_service_node.cpp

@@ -0,0 +1,32 @@
+// Copyright 2023 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License
+
+#include <memory>
+
+#include "cargo_loading_service/cargo_loading_service.hpp"
+
+int main(int argc, char * argv[])
+{
+  rclcpp::NodeOptions options = rclcpp::NodeOptions();
+  rclcpp::ExecutorOptions exe_options = rclcpp::ExecutorOptions();
+
+  rclcpp::init(argc, argv);
+  auto node = std::make_shared<cargo_loading_service::CargoLoadingService>(options);
+  auto executor = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(exe_options, 2);
+  executor->add_node(node);
+  executor->spin();
+  rclcpp::shutdown();
+
+  return 0;
+}