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Use only a single ros node inside of rviz #197

Merged
merged 11 commits into from
Jun 12, 2018
Merged

Use only a single ros node inside of rviz #197

merged 11 commits into from
Jun 12, 2018

Commits on Jun 12, 2018

  1. Cleanup: use existing typedefs for node shared pointers

    @anhosi
    anhosi committed Jun 12, 2018
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  2. Return a node abstraction from ros clients init 

    - No longer uses the node_name as indirect handle to the node.
- The interface of node abstraction is not yet extended, also for now
  still only the node name is handed to the VisualizationFrame.
- The ros client abstraction internally holds a shared pointer to the
  "one" rviz ros node (in form of a RosNodeAbstraction). Users only
  receive a weak pointer to the RosNodeAbstraction so that the
  RosClientAbstraction can perform a proper cleanup upon shutdown.
- Make documentation comments describe reality.
    @anhosi
    anhosi committed Jun 12, 2018
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  3. Provide access to the rviz main node via the display context

    @anhosi
    anhosi committed Jun 12, 2018
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  4. Make RosNodeAbstraction interface const correct

    @anhosi
    anhosi committed Jun 12, 2018
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  5. Store the rclcpp::Node inside the RosNodeAbstraction 

    - Intended usage: rviz should have only a single instance of
  RosNodeAbstraction to manage all node related ros interaction.
- So there is no need to handle many node. Thus RosNodeStorage can be
  removed.
    @anhosi
    anhosi committed Jun 12, 2018
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  6. Add the main rviz node to the executor

    @anhosi
    anhosi committed Jun 12, 2018
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  7. Hand the central ros node to the TopicDisplayWidget

    @anhosi
    anhosi committed Jun 12, 2018
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  8. Use only the single ros node of rviz 

    - All of rviz now uses only a single ros node.
- As the abstraction for subscriptions is not yet present the wrapped
  raw rclcpp::Node has to be access in order to subscribe. This will be
  addressed in the future.
    @anhosi
    anhosi committed Jun 12, 2018
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  9. Cleanup

    @anhosi
    anhosi committed Jun 12, 2018
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  10. Remove add_to_executor from node interface as it is not needed 

    - The main rviz node is added to the main executor at application
  start
- Further interaction with the executor should not be necessary
    @anhosi
    anhosi committed Jun 12, 2018
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  11. Cleanup: consistent naming

    @anhosi
    anhosi committed Jun 12, 2018
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