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Fix use_sim_time issue on LifeCycleNode (#651) #1

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merged 1 commit into from
Mar 27, 2019
Merged

Fix use_sim_time issue on LifeCycleNode (#651) #1

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7 changes: 7 additions & 0 deletions rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/node_interfaces/node_services_interface.hpp"
#include "rclcpp/node_interfaces/node_time_source_interface.hpp"
#include "rclcpp/node_interfaces/node_timers_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/node_interfaces/node_waitables_interface.hpp"
Expand Down Expand Up @@ -383,6 +384,11 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
get_node_parameters_interface();

/// Return the Node's internal NodeParametersInterface implementation.
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
get_node_time_source_interface();

/// Return the Node's internal NodeWaitablesInterface implementation.
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
Expand Down Expand Up @@ -513,6 +519,7 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;

bool use_intra_process_comms_;
Expand Down
16 changes: 16 additions & 0 deletions rclcpp_lifecycle/src/lifecycle_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@
#include "rclcpp/node_interfaces/node_logging.hpp"
#include "rclcpp/node_interfaces/node_parameters.hpp"
#include "rclcpp/node_interfaces/node_services.hpp"
#include "rclcpp/node_interfaces/node_time_source.hpp"
#include "rclcpp/node_interfaces/node_timers.hpp"
#include "rclcpp/node_interfaces/node_topics.hpp"
#include "rclcpp/node_interfaces/node_waitables.hpp"
Expand Down Expand Up @@ -81,6 +82,15 @@ LifecycleNode::LifecycleNode(
options.start_parameter_event_publisher(),
options.parameter_event_qos_profile()
)),
node_time_source_(new rclcpp::node_interfaces::NodeTimeSource(
node_base_,
node_topics_,
node_graph_,
node_services_,
node_logging_,
node_clock_,
node_parameters_
)),
node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
use_intra_process_comms_(options.use_intra_process_comms()),
impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_))
Expand Down Expand Up @@ -274,6 +284,12 @@ LifecycleNode::get_node_logging_interface()
return node_logging_;
}

rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
LifecycleNode::get_node_time_source_interface()
{
return node_time_source_;
}

rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
LifecycleNode::get_node_timers_interface()
{
Expand Down