node constructors fixed

uleroboticsgroup · Aug 8, 2023 · 7eb306a · 7eb306a
1 parent a90cbd1
commit 7eb306a
Show file tree

Hide file tree

Showing 3 changed files with 49 additions and 49 deletions.
diff --git a/simple_node/include/simple_node/node.hpp b/simple_node/include/simple_node/node.hpp
@@ -34,11 +34,14 @@ namespace simple_node {
 class Node : public rclcpp::Node {
 
 public:
-  Node(std::string name);
-  Node(std::string name, rclcpp::Executor *executor);
-  Node(std::string name, std::string _namespace);
-  Node(std::string name, std::string _namespace, rclcpp::Executor *executor);
-  Node(std::string name, std::string _namespace, const rclcpp::NodeOptions &options = rclcpp::NodeOptions());
+  Node(const std::string &name,
+       const rclcpp::NodeOptions &options = rclcpp::NodeOptions(),
+       rclcpp::Executor::SharedPtr executor =
+           std::make_shared<rclcpp::executors::MultiThreadedExecutor>());
+  Node(const std::string &name, const std::string &namespace_,
+       const rclcpp::NodeOptions &options = rclcpp::NodeOptions(),
+       rclcpp::Executor::SharedPtr executor =
+           std::make_shared<rclcpp::executors::MultiThreadedExecutor>());
   ~Node();
 
   void join_spin();
@@ -119,7 +122,7 @@ class Node : public rclcpp::Node {
 
 private:
   rclcpp::CallbackGroup::SharedPtr group;
-  rclcpp::Executor *executor;
+  rclcpp::Executor::SharedPtr executor;
   std::thread *spin_thread;
 
   void run_executor();

diff --git a/simple_node/simple_node/node.py b/simple_node/simple_node/node.py
@@ -19,13 +19,15 @@
 
 import time
 from threading import Thread
-from typing import Callable, Type
+from typing import List, Callable, Type
 
 import rclpy
-from rclpy.node import Node as Node2
-from rclpy.executors import MultiThreadedExecutor, Executor
 from rclpy.client import Client
+from rclpy.context import Context
+from rclpy.node import Node as Node2
+from rclpy.parameter import Parameter
 from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import MultiThreadedExecutor, Executor
 
 from simple_node.actions.action_client import ActionClient
 from simple_node.actions.action_server import ActionServer
@@ -34,29 +36,33 @@
 class Node(Node2):
     """ Node Class """
 
-    def __init__(self, node_name: str,
-                        context = None,
-                        cli_args = None,
-                        namespace = "",
-                        use_global_arguments = True,
-                        enable_rosout = True,
-                        start_parameter_services = True,
-                        parameter_overrides = None,
-                        allow_undeclared_parameters = False,
-                        automatically_declare_parameters_from_overrides = False, 
-                        executor = None):
-
-        super().__init__(node_name,
-                        context = context,
-                        cli_args = cli_args,
-                        namespace = namespace,
-                        use_global_arguments = use_global_arguments,
-                        enable_rosout=enable_rosout,
-                        start_parameter_services=start_parameter_services,
-                        parameter_overrides=parameter_overrides,
-                        allow_undeclared_parameters=allow_undeclared_parameters,
-                        automatically_declare_parameters_from_overrides=automatically_declare_parameters_from_overrides
-                        )
+    def __init__(
+        self,
+        node_name: str,
+        context: Context = None,
+        cli_args: List[str] = None,
+        namespace: str = "",
+        use_global_arguments: bool = True,
+        enable_rosout: bool = True,
+        start_parameter_services: bool = True,
+        parameter_overrides: List[Parameter] = None,
+        allow_undeclared_parameters: bool = False,
+        automatically_declare_parameters_from_overrides: bool = False,
+        executor: Executor = None
+    ) -> None:
+
+        super().__init__(
+            node_name,
+            context=context,
+            cli_args=cli_args,
+            namespace=namespace,
+            use_global_arguments=use_global_arguments,
+            enable_rosout=enable_rosout,
+            start_parameter_services=start_parameter_services,
+            parameter_overrides=parameter_overrides,
+            allow_undeclared_parameters=allow_undeclared_parameters,
+            automatically_declare_parameters_from_overrides=automatically_declare_parameters_from_overrides
+        )
 
         if not executor:
             self._executor = MultiThreadedExecutor()

diff --git a/simple_node/src/simple_node/node.cpp b/simple_node/src/simple_node/node.cpp
@@ -17,31 +17,22 @@
 
 using namespace simple_node;
 
-Node::Node(std::string name)
-    : Node(name, "", new rclcpp::executors::MultiThreadedExecutor()) {}
+Node::Node(const std::string &name, const rclcpp::NodeOptions &options,
+           const rclcpp::Executor::SharedPtr executor)
+    : Node(name, "", options, executor) {}
 
-Node::Node(std::string name, std::string _namespace)
-    : Node(name, _namespace, new rclcpp::executors::MultiThreadedExecutor()) {}
-
-Node::Node(std::string name, rclcpp::Executor *executor)
-    : Node(name, "", executor) {}
-
-Node::Node(std::string name, std::string _namespace, rclcpp::Executor *executor)
-    : rclcpp::Node(name, _namespace) {
+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) {
 
   rclcpp::CallbackGroup::SharedPtr group =
       this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 
-  this->executor = executor;
   this->spin_thread = new std::thread(&Node::run_executor, this);
 }
-Node::Node(std::string name, std::string _namespace, const rclcpp::NodeOptions &options):
-    rclcpp::Node(name, _namespace, options) {}
 
-Node::~Node() {
-  delete this->executor;
-  delete this->spin_thread;
-}
+Node::~Node() { delete this->spin_thread; }
 
 void Node::join_spin() {
   this->spin_thread->join();