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Use only a single ros node inside of rviz #197
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wjwwood
merged 11 commits into
ros2:ros2
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bosch-io:feature/ros_interface_abstraction_followup
Jun 12, 2018
Merged
Use only a single ros node inside of rviz #197
wjwwood
merged 11 commits into
ros2:ros2
from
bosch-io:feature/ros_interface_abstraction_followup
Jun 12, 2018
Commits on Jun 12, 2018
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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.
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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.
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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.
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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
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