From 3819bf2fb4ce40923ee3474ed3838506122beec5 Mon Sep 17 00:00:00 2001
From: Ferry Schoenmakers <ferry.schoenmakers@nobleo.nl>
Date: Mon, 5 Jan 2026 12:52:50 +0100
Subject: [PATCH 1/2] Also build composable version of topic-converter

---
 cloudini_ros/CMakeLists.txt          | 36 ++++++++++++++++++++++------
 cloudini_ros/package.xml             |  1 +
 cloudini_ros/src/topic_converter.cpp |  3 +++
 3 files changed, 33 insertions(+), 7 deletions(-)

diff --git a/cloudini_ros/CMakeLists.txt b/cloudini_ros/CMakeLists.txt
index 6ab2a94..872adf0 100644
--- a/cloudini_ros/CMakeLists.txt
+++ b/cloudini_ros/CMakeLists.txt
@@ -14,6 +14,7 @@ find_package(point_cloud_transport REQUIRED)
 find_package(Draco QUIET)
 find_package(pcl_conversions REQUIRED)
 find_package(pcl_ros REQUIRED)
+find_package(rclcpp_components REQUIRED)
 
 set(PLUGIN_DEPS
   pluginlib::pluginlib
@@ -58,26 +59,47 @@ install(
 
 ######### topic converter #########
 
-add_executable(cloudini_topic_converter
+add_library(cloudini_topic_converter_component SHARED
   src/topic_converter.cpp
 )
+ament_target_dependencies(cloudini_topic_converter_component
+  SYSTEM
+    cloudini_lib
+    rclcpp_components
+)
+
+rclcpp_components_register_node(
+    cloudini_topic_converter_component
+    PLUGIN "CloudiniPointcloudConverter"
+    EXECUTABLE cloudini_topic_converter
+)
 
 target_include_directories(cloudini_topic_converter
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
 )
 
-target_link_libraries(cloudini_topic_converter
-  cloudini_ros
-  cloudini_lib::cloudini_lib
-)
-
-install(TARGETS cloudini_topic_converter
+install(
+  TARGETS
+    cloudini_topic_converter_component
+  EXPORT export_cloudini_ros
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  TARGETS
+    cloudini_topic_converter
   RUNTIME DESTINATION lib/cloudini_ros
 )
 
+install(
+  DIRECTORY
+    launch
+  DESTINATION share/cloudini_ros
+)
+
 ######### rosbag benchmark #########
 add_executable(rosbag_benchmark
   test/rosbag_benchmark.cpp
diff --git a/cloudini_ros/package.xml b/cloudini_ros/package.xml
index e31a5f2..ea232c1 100644
--- a/cloudini_ros/package.xml
+++ b/cloudini_ros/package.xml
@@ -25,6 +25,7 @@
   <depend>mcap_vendor</depend>
   <depend>sensor_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>rosbag2_cpp</depend>
   <depend>pcl_conversions</depend>
   <depend>pcl_ros</depend>
diff --git a/cloudini_ros/src/topic_converter.cpp b/cloudini_ros/src/topic_converter.cpp
index 582b688..ab96bd4 100644
--- a/cloudini_ros/src/topic_converter.cpp
+++ b/cloudini_ros/src/topic_converter.cpp
@@ -19,6 +19,7 @@
 #include <rclcpp/generic_publisher.hpp>
 #include <rclcpp/generic_subscription.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
 #include <rosidl_typesupport_cpp/message_type_support.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -190,6 +191,8 @@ void CloudiniPointcloudConverter::callback(std::shared_ptr<rclcpp::SerializedMes
   count++;
 }
 
+RCLCPP_COMPONENTS_REGISTER_NODE(CloudiniPointcloudConverter)
+
 int main(int argc, char** argv) {
   // Initialize ROS2 node
   rclcpp::init(argc, argv);

From 16cf35ba5a9b13df22663232c8dcbf18a80ae859 Mon Sep 17 00:00:00 2001
From: Ferry Schoenmakers <ferry.schoenmakers@nobleo.nl>
Date: Mon, 5 Jan 2026 12:56:06 +0100
Subject: [PATCH 2/2] No launch files here...

---
 cloudini_ros/CMakeLists.txt | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/cloudini_ros/CMakeLists.txt b/cloudini_ros/CMakeLists.txt
index 872adf0..31ea1ac 100644
--- a/cloudini_ros/CMakeLists.txt
+++ b/cloudini_ros/CMakeLists.txt
@@ -94,12 +94,6 @@ install(
   RUNTIME DESTINATION lib/cloudini_ros
 )
 
-install(
-  DIRECTORY
-    launch
-  DESTINATION share/cloudini_ros
-)
-
 ######### rosbag benchmark #########
 add_executable(rosbag_benchmark
   test/rosbag_benchmark.cpp