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refactor init to allow for non-global init (#587)

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* refactor init to allow for non-global init

Signed-off-by: William Woodall <william@osrfoundation.org>

* Update rclcpp/include/rclcpp/utilities.hpp

Co-Authored-By: wjwwood <william+github@osrfoundation.org>

* Update rclcpp/include/rclcpp/utilities.hpp

Co-Authored-By: wjwwood <william+github@osrfoundation.org>

* Update rclcpp/include/rclcpp/utilities.hpp

Co-Authored-By: wjwwood <william+github@osrfoundation.org>

* Update rclcpp/src/rclcpp/utilities.cpp

Co-Authored-By: wjwwood <william+github@osrfoundation.org>

* refactor state into context objects and fix signal handling

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid nullptr access in error messages

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid exception in publish after shutdown was called

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix missing and unused headers

Signed-off-by: William Woodall <william@osrfoundation.org>

* cpplint

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixes found during testing

Signed-off-by: William Woodall <william@osrfoundation.org>

* address bug found in review comment

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixes and warnings fixed during testing

Signed-off-by: William Woodall <william@osrfoundation.org>

* addressing review comments

Signed-off-by: William Woodall <william@osrfoundation.org>

* ensure new ExecutorArgs are used everywhere
This commit is contained in:
William Woodall 2018-11-29 21:33:01 -08:00 • committed by GitHub
parent 36262a5cf5
commit 3af8d2cfed
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GPG key ID: 4AEE18F83AFDEB23
38 changed files with 1077 additions and 196 deletions
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2
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
View file

@ -141,7 +141,7 @@ LifecycleNode::create_wall_timer(
{
auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
std::chrono::duration_cast<std::chrono::nanoseconds>(period),
std::move(callback));
std::move(callback), this->node_base_->get_context());
node_timers_->add_timer(timer, group);
return timer;
}

3
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -86,7 +86,8 @@ LifecycleNode::LifecycleNode(
node_base_,
node_topics_,
node_graph_,
node_services_
node_services_,
node_logging_
)),
node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
use_intra_process_comms_(use_intra_process_comms),