From 2534d4c3fc447f955a3b9de3684462aaabade59e Mon Sep 17 00:00:00 2001 From: Michael Jeronimo Date: Wed, 6 Mar 2019 10:38:27 -0800 Subject: [PATCH] Add a method to the LifecycleNode class to get the logging interface There are getters for the other interfaces, but the logging interface appears to have been overlooked. Signed-off-by: Michael Jeronimo --- .../include/rclcpp_lifecycle/lifecycle_node.hpp | 5 +++++ rclcpp_lifecycle/src/lifecycle_node.cpp | 6 ++++++ 2 files changed, 11 insertions(+) diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp index 22b98a98c2..2c730a7dfb 100644 --- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp +++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp @@ -358,6 +358,11 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface, rclcpp::node_interfaces::NodeGraphInterface::SharedPtr get_node_graph_interface(); + /// Return the Node's internal NodeLoggingInterface implementation. + RCLCPP_LIFECYCLE_PUBLIC + rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr + get_node_logging_interface(); + /// Return the Node's internal NodeTimersInterface implementation. RCLCPP_LIFECYCLE_PUBLIC rclcpp::node_interfaces::NodeTimersInterface::SharedPtr diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp index 95c1470340..63d1dfbcba 100644 --- a/rclcpp_lifecycle/src/lifecycle_node.cpp +++ b/rclcpp_lifecycle/src/lifecycle_node.cpp @@ -268,6 +268,12 @@ LifecycleNode::get_node_graph_interface() return node_graph_; } +rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr +LifecycleNode::get_node_logging_interface() +{ + return node_logging_; +} + rclcpp::node_interfaces::NodeTimersInterface::SharedPtr LifecycleNode::get_node_timers_interface() {