From 12353769d247772ceb79d0f9cfc69ba44512dbe7 Mon Sep 17 00:00:00 2001
From: cyy_mac <cyy@mac.com>
Date: Thu, 26 Mar 2026 05:48:03 +0800
Subject: [PATCH] new camera calibraction fix

---
 src/camera_calibration/CMakeLists.txt         | 21 ++++++++++++-------
 .../src/calibration_node.cpp                  | 11 +++++++---
 2 files changed, 22 insertions(+), 10 deletions(-)

diff --git a/src/camera_calibration/CMakeLists.txt b/src/camera_calibration/CMakeLists.txt
index c0ffdbe..86843d5 100644
--- a/src/camera_calibration/CMakeLists.txt
+++ b/src/camera_calibration/CMakeLists.txt
@@ -8,7 +8,6 @@ endif()
 # Find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(rclcpp_components REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(image_transport REQUIRED)
@@ -23,7 +22,7 @@ include_directories(
   ${EIGEN3_INCLUDE_DIRS}
 )
 
-# Node library
+# Node library - without rclcpp_components registration
 add_library(camera_calibration_lib SHARED
   src/calibration_node.cpp
 )
@@ -39,13 +38,21 @@ ament_target_dependencies(camera_calibration_lib
   rm_interfaces
 )
 
-# Component library for component container
-rclcpp_components_register_node(camera_calibration_lib
-  PLUGIN "camera_calibration::CalibrationNode"
-  EXECUTABLE camera_calibration_node
+# Create executable directly instead of using component registration
+add_executable(camera_calibration_node src/calibration_node.cpp)
+ament_target_dependencies(camera_calibration_node
+  rclcpp
+  std_msgs
+  sensor_msgs
+  image_transport
+  cv_bridge
+  OpenCV
+  Eigen3
+  rm_interfaces
 )
+target_link_libraries(camera_calibration_node camera_calibration_lib)
 
-install(TARGETS camera_calibration_lib
+install(TARGETS camera_calibration_lib camera_calibration_node
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib
diff --git a/src/camera_calibration/src/calibration_node.cpp b/src/camera_calibration/src/calibration_node.cpp
index 86d891f..1674fe3 100644
--- a/src/camera_calibration/src/calibration_node.cpp
+++ b/src/camera_calibration/src/calibration_node.cpp
@@ -488,6 +488,11 @@ cv::Mat CalibrationNode::drawCalibrationResults(const cv::Mat& image,
 
 }  // namespace camera_calibration
 
-#include "rclcpp_components/register_node_macro.hpp"
-
-RCLCPP_COMPONENTS_REGISTER_NODE(camera_calibration::CalibrationNode)
+int main(int argc, char** argv) {
+  rclcpp::init(argc, argv);
+  rclcpp::NodeOptions options;
+  auto node = std::make_shared<camera_calibration::CalibrationNode>(options);
+  rclcpp::spin(node->get_node_base_interface());
+  rclcpp::shutdown();
+  return 0;
+}