Fix use_sim_time issue on LifeCycleNode

Signed-off-by: vinnamkim <vinnam.kim@gmail.com>
ros2 · Mar 26, 2019 · 97f7d6a · 97f7d6a
1 parent ec64b40
commit 97f7d6a
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Showing 2 changed files with 23 additions and 0 deletions.
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -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"
@@ -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
@@ -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_;

diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp
@@ -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"
@@ -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_))
@@ -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()
 {