Add CostmapFilterInfoServer as a component (#3596)

ros-navigation · Jun 5, 2023 · 5eb0a40 · 5eb0a40
1 parent 3a258a6
commit 5eb0a40
Show file tree

Hide file tree

Showing 3 changed files with 13 additions and 3 deletions.
diff --git a/nav2_map_server/CMakeLists.txt b/nav2_map_server/CMakeLists.txt
@@ -125,6 +125,7 @@ if(WIN32)
     YAML_CPP_DLL)
 endif()
 
+rclcpp_components_register_nodes(${library_name} "nav2_map_server::CostmapFilterInfoServer")
 rclcpp_components_register_nodes(${library_name} "nav2_map_server::MapSaver")
 rclcpp_components_register_nodes(${library_name} "nav2_map_server::MapServer")
 

diff --git a/nav2_map_server/include/nav2_map_server/costmap_filter_info_server.hpp b/nav2_map_server/include/nav2_map_server/costmap_filter_info_server.hpp
@@ -29,8 +29,10 @@ class CostmapFilterInfoServer : public nav2_util::LifecycleNode
 public:
   /**
    * @brief Constructor for the nav2_map_server::CostmapFilterInfoServer
+   * @param options Additional options to control creation of the node.
    */
-  CostmapFilterInfoServer();
+  explicit CostmapFilterInfoServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
+
   /**
    * @brief Destructor for the nav2_map_server::CostmapFilterInfoServer
    */

diff --git a/nav2_map_server/src/costmap_filter_info/costmap_filter_info_server.cpp b/nav2_map_server/src/costmap_filter_info/costmap_filter_info_server.cpp
@@ -24,8 +24,8 @@
 namespace nav2_map_server
 {
 
-CostmapFilterInfoServer::CostmapFilterInfoServer()
-: nav2_util::LifecycleNode("costmap_filter_info_server")
+CostmapFilterInfoServer::CostmapFilterInfoServer(const rclcpp::NodeOptions & options)
+: nav2_util::LifecycleNode("costmap_filter_info_server", "", options)
 {
   declare_parameter("filter_info_topic", "costmap_filter_info");
   declare_parameter("type", 0);
@@ -106,3 +106,10 @@ CostmapFilterInfoServer::on_shutdown(const rclcpp_lifecycle::State & /*state*/)
 }
 
 }  // namespace nav2_map_server
+
+#include "rclcpp_components/register_node_macro.hpp"
+
+// Register the component with class_loader.
+// This acts as a sort of entry point, allowing the component to be discoverable when its library
+// is being loaded into a running process.
+RCLCPP_COMPONENTS_REGISTER_NODE(nav2_map_server::CostmapFilterInfoServer)