Refactor ROS 2 node as a component #63
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jhurliman
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Nov 21, 2022
achim-k
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Nov 25, 2022
**Public-Facing Changes** Fix ros2 node not receiving any ros messages **Description** Fixes a regression introduced in #63. The created node was not added to the executor and hence no ROS callbacks were executed. We would have caught this regression with a proper smoke test in place (#20) <!-- link relevant GitHub issues -->
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Public-Facing Changes
Refactor ROS 2 node as a component
Description
Allows to run the ROS2 version both as standalone node or as a component.
For the standalone version we simply create a
ComponentManagerand load the foxglove bridge component. I'm not sure if this is best practice, but it has the advantage that it does not additional header files to be included which would require an additional refactoring.Fixes #28