Made toid_vision into composable node

toid_vision/CMakeLists.txt

@@ -14,7 +14,7 @@ set(PACKAGE_DEPS
   message_filters
   cv_bridge
   OpenCV
-  
+  rclcpp_components
   tf2
   tf2_ros
   tf2_geometry_msgs
@@ -38,6 +38,10 @@ set(SOURCES
     src/vision.cpp
 )
 
+set(SOURCES_COMPOSABLE
+    src/toid_vision.cpp
+)
+
 add_executable(toid_vision ${SOURCES})
 
 target_include_directories(
@@ -50,6 +54,39 @@ ament_target_dependencies(toid_vision ${PACKAGE_DEPS})
 
 install(TARGETS toid_vision DESTINATION lib/${PROJECT_NAME})
 
+# TOID_VISION COMPOSABLE NODE
+
+add_library(toid_vision_component SHARED ${SOURCES_COMPOSABLE})
+
+rclcpp_components_register_node(
+    toid_vision_component
+    PLUGIN "toid::NutDetector"
+    EXECUTABLE nut_detector 
+)
+
+target_include_directories(
+  toid_vision_component
+  PRIVATE
+  include
+)
+
+ament_target_dependencies(toid_vision_component ${PACKAGE_DEPS})
+
+ament_export_targets(export_toid_vision_component)
+install(TARGETS toid_vision_component
+        EXPORT export_toid_vision_component
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+)
+
+install(
+  DIRECTORY 
+    launch 
+    config
+  DESTINATION share/${PROJECT_NAME}/
+)
+
 target_compile_features(
   toid_vision PUBLIC
   c_std_99