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Copy pathnode.cpp
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48 lines (36 loc) · 1.71 KB
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// Copyright (C) 2023 Miguel Ángel González Santamarta
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <https://www.gnu.org/licenses/>.
#include "simple_node/node.hpp"
using namespace simple_node;
Node::Node(const std::string &name, const rclcpp::NodeOptions &options,
const rclcpp::Executor::SharedPtr executor)
: Node(name, "", options, executor) {}
Node::Node(const std::string &name, const std::string &namespace_,
const rclcpp::NodeOptions &options,
rclcpp::Executor::SharedPtr executor)
: rclcpp::Node(name, namespace_, options), executor(executor) {
if (this->executor == nullptr) {
this->executor =
std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
}
rclcpp::CallbackGroup::SharedPtr group =
this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
this->spin_thread = std::make_unique<std::thread>(&Node::run_executor, this);
}
void Node::join_spin() {
this->spin_thread->join();
RCLCPP_INFO(this->get_logger(), "Destroying node %s", this->get_name());
}
void Node::run_executor() {
this->executor->add_node(this->get_node_base_interface());
this->executor->spin();
}