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Reduce controller server nodes #2479

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merged 2 commits into from
Jul 27, 2021
Merged

Reduce controller server nodes #2479

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212f9b8
reduce controller server nodes by setting SimpleActionServer's argume…
gezp Jul 27, 2021
bd9a8c8
remove duplicated action_server_.reste()
gezp Jul 27, 2021
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11 changes: 7 additions & 4 deletions nav2_controller/src/nav2_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ namespace nav2_controller
{

ControllerServer::ControllerServer()
: LifecycleNode("controller_server", "", true),
: nav2_util::LifecycleNode("controller_server", ""),
progress_checker_loader_("nav2_core", "nav2_core::ProgressChecker"),
default_progress_checker_id_{"progress_checker"},
default_progress_checker_type_{"nav2_controller::SimpleProgressChecker"},
Expand Down Expand Up @@ -195,8 +195,12 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)

// Create the action server that we implement with our followPath method
action_server_ = std::make_unique<ActionServer>(
rclcpp_node_, "follow_path",
std::bind(&ControllerServer::computeControl, this));
shared_from_this(),
"follow_path",
std::bind(&ControllerServer::computeControl, this),
nullptr,
std::chrono::milliseconds(500),
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true);

// Set subscribtion to the speed limiting topic
speed_limit_sub_ = create_subscription<nav2_msgs::msg::SpeedLimit>(
Expand Down Expand Up @@ -266,7 +270,6 @@ ControllerServer::on_cleanup(const rclcpp_lifecycle::State & state)
odom_sub_.reset();
vel_publisher_.reset();
speed_limit_sub_.reset();
action_server_.reset();
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return nav2_util::CallbackReturn::SUCCESS;
}
Expand Down