refactor(eagleye_rt): convert all nodes to class-based rclcpp::Node

[rsasaki0109]

Summary

• Replace global static variables + free callback functions with encapsulated class-based rclcpp::Node pattern across all 21 nodes in eagleye_rt
• Each node is now a class inheriting rclcpp::Node with private member variables for state, subscribers, and publishers
• GenericTimer replaced with create_wall_timer()
• Nodes that route topics via argc/argv (heading, rtk_heading, heading_interpolate, yaw_rate_offset) pass args through the constructor
• Fix CMakeLists.txt: quote $ENV{ROS_DISTRO} in if() comparison

Test plan

• Build passes: colcon build --packages-select eagleye_rt ✅
• No regressions in node behavior (callbacks, parameter loading, pub/sub topology identical to before)
• CI passes

[windsurf-bot]

Other comments (16)

• eagleye_rt/src/slip_angle_node.cpp (63-77) The `sub_velocity_status_` subscription is declared but never initialized in the constructor, while `velocity_status_` is used in the `imuCallback` method. This could lead to undefined behavior when `use_can_less_mode_` is true.
• eagleye_rt/src/smoothing_node.cpp (31-33) Missing include for YAML::Node which is used throughout the code.

  #include "eagleye_coordinate/eagleye_coordinate.hpp"
  #include "eagleye_navigation/eagleye_navigation.hpp"
  #include "rclcpp/rclcpp.hpp"
  #include "yaml-cpp/yaml.hpp"
  

• eagleye_rt/src/smoothing_node.cpp (31-33) Missing include for tf2_ros which is used for TransformListener and Buffer.

  #include "eagleye_coordinate/eagleye_coordinate.hpp"
  #include "eagleye_navigation/eagleye_navigation.hpp"
  #include "rclcpp/rclcpp.hpp"
  #include "tf2_ros/transform_listener.h"
  #include "tf2_ros/buffer.h"
  

• eagleye_rt/src/position_interpolate_node.cpp (65-66) The error message in the catch block refers to 'heading_interpolate Node' but this is the position_interpolate node. This should be updated for clarity.

        std::cerr << "\033[1;31mposition_interpolate Node YAML Error: " << e.msg << "\033[0m"
                  << std::endl;
  

• eagleye_rt/src/velocity_scale_factor_node.cpp (283-284) The csv_file is created but not checked for successful opening before returning. This could lead to silent failures if the file cannot be opened.

        std::ofstream csv_file(velocity_scale_factor_save_str_);
        if (!csv_file) {
          RCLCPP_ERROR(this->get_logger(), "Failed to open file for writing: %s", velocity_scale_factor_save_str_.c_str());
        }
        return;
  

• eagleye_rt/src/velocity_scale_factor_node.cpp (273-275) The file is closed unconditionally, even if it wasn't successfully opened. This should be moved inside the else block.

        }
        ifs.close();
      }
  

• eagleye_rt/src/yaw_rate_offset_node.cpp (134-134) The error message when an invalid first argument is provided is misleading. It currently says 'No arguments' when it should indicate that the argument is invalid.

  RCLCPP_ERROR(this->get_logger(), "Invalid argument. Expected '1st' or '2nd'");
  

• eagleye_rt/src/yaw_rate_offset_node.cpp (171-171) The `use_can_less_mode_` variable is initialized to false but never set to true anywhere in the code, making the condition check in imuCallback ineffective.
• eagleye_rt/src/enable_additional_rolling_node.cpp (125-125) The `velocity_` member variable is declared but never assigned a value. It's used in the `enable_additional_rolling_estimate()` function call, but there's no subscription or callback to populate it. This could lead to undefined behavior.
• eagleye_rt/src/enable_additional_rolling_node.cpp (126-126) The `velocity_status_` member variable is declared but never assigned a value. It's used in the `use_can_less_mode_` check in the `imuCallback()` function, but there's no subscription or callback to populate it.
• eagleye_rt/src/rtk_dead_reckoning_node.cpp (59-59) The YAML::LoadFile call might throw exceptions other than YAML::Exception (such as std::runtime_error if the file doesn't exist). Consider using a more general catch block or adding specific handling for file-related errors.
• eagleye_rt/src/yaw_rate_offset_stop_node.cpp (63-64) There's an inconsistency between the parameter name and the log message. The parameter is named `estimated_interval` but the log message refers to it as `estimated_minimum_interval`. Consider updating the log message to match the parameter name for clarity.
• eagleye_rt/src/angular_velocity_offset_stop_node.cpp (59-59) The log message for the estimated_interval parameter is inconsistent with the variable name. It's printing 'estimated_minimum_interval' but the parameter is named 'estimated_interval'.

        std::cout << "estimated_interval " << angular_velocity_offset_stop_parameter_.estimated_interval << std::endl;
  

• eagleye_rt/src/velocity_estimator_node.cpp (84-84) Consider using a consistent style for all callback methods. The `ggaCallback` is implemented as a one-liner while other callbacks use a multi-line format with braces on separate lines.

    void ggaCallback(const nmea_msgs::msg::Gpgga::ConstSharedPtr msg)
    {
      gga_msg_ = *msg;
    }
  

• eagleye_rt/src/height_node.cpp (130-130) The member variable `use_can_less_mode_` is initialized to `false` in the class declaration, but then unconditionally overwritten in the constructor with the value from the config file. This initialization is redundant and could be confusing.
• eagleye_rt/src/correction_imu.cpp (103-103) The condition is missing a check for `enabled_status` in the second part. It should be `acc_x_scale_factor_.status.enabled_status == true` for consistency.

      if (acc_x_offset_.status.enabled_status == true && acc_x_scale_factor_.status.enabled_status == true)
  

1 file skipped due to size limits:

• eagleye_rt/src/monitor_node.cpp

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[windsurf-bot]

The parameter declaration for 'output_dir' is incorrect. The variable 'str' is being passed as the parameter name instead of a string literal.

Suggested change

	node->declare_parameter(str, "output_dir");
	std::string str;
	node->declare_parameter("output_dir", "");
	node->get_parameter("output_dir", str);

[windsurf-bot]

The exception handler in onTimer() silently returns without logging the error. Consider preserving the error logging from the previous implementation to help with debugging transform issues.

Suggested change

	} catch (tf2::TransformException& ex) {
	return;
	}
	} catch (tf2::TransformException& ex) {
	RCLCPP_ERROR(this->get_logger(), "%s", ex.what());
	return;
	}

[windsurf-bot]

The condition argc > 2 checks if there are at least 3 arguments (including the program name), but the code only accesses argv[1]. This could lead to undefined behavior if exactly 2 arguments are provided (program name + one argument). Consider changing to argc >= 2 to check if at least one argument is available after the program name.