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Register nodes as components + launch files to use component container #1013
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Do you have any high level plan of how you want to approach this? I think we might need to split the nodes in order to make them compatible for running standalone as well as through component. |
They should all work to my knowledge just registering in the CMakelists and with the cpp macros. They all derive from the node type and take in |
SteveMacenski
changed the title
Register nodes as components
Register nodes as components + launch files to use component container
Aug 11, 2020
SteveMacenski
changed the title
Register nodes as components + launch files to use component container
Register nodes as components + launch files to use component container [blocked by launch lifecycle-components]
Aug 23, 2021
SteveMacenski
changed the title
Register nodes as components + launch files to use component container [blocked by launch lifecycle-components]
Register nodes as components + launch files to use component container
Sep 14, 2021
PR open and to be merged. |
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Feature request
Make all nodes components with default launch files using the component container to load into the same process (or at least optional launch file along with the distributed one)
Need to register them and then make a launch file using them.
Feature description
We've discussed the potential for the stack to be configured into different processes by utilizing components in ROS2, yet none of our nodes have been registered as components. We should make this change to enable this use case.
See https://index.ros.org/doc/ros2/Tutorials/Composition/
Implementation considerations
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