Better not touch NodeOptions in ComponentManager since it's public

Signed-off-by: Martijn Buijs <martijn.buijs@gmail.com>
ros2 · Sep 27, 2020 · 1704b29 · 1704b29
1 parent b069705
commit 1704b29
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Showing 3 changed files with 17 additions and 5 deletions.
diff --git a/rclcpp_components/src/component_container.cpp b/rclcpp_components/src/component_container.cpp
@@ -22,8 +22,15 @@ int main(int argc, char * argv[])
 {
   /// Component container with a single-threaded executor.
   rclcpp::init(argc, argv);
+
+  rclcpp::NodeOptions options;
+  options.start_parameter_services(false);
+  options.start_parameter_event_publisher(false);
+
   auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
-  auto node = std::make_shared<rclcpp_components::ComponentManager>(exec);
+  auto node = std::make_shared<rclcpp_components::ComponentManager>(
+    exec, "ComponentManager",
+    options);
   exec->add_node(node);
   exec->spin();
 }
diff --git a/rclcpp_components/src/component_container_mt.cpp b/rclcpp_components/src/component_container_mt.cpp
@@ -22,8 +22,15 @@ int main(int argc, char * argv[])
 {
   /// Component container with a multi-threaded executor.
   rclcpp::init(argc, argv);
+
+  rclcpp::NodeOptions options;
+  options.start_parameter_services(false);
+  options.start_parameter_event_publisher(false);
+
   auto exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
-  auto node = std::make_shared<rclcpp_components::ComponentManager>(exec);
+  auto node = std::make_shared<rclcpp_components::ComponentManager>(
+    exec, "ComponentManager",
+    options);
   exec->add_node(node);
   exec->spin();
 }
diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp
@@ -34,9 +34,7 @@ ComponentManager::ComponentManager(
   std::weak_ptr<rclcpp::Executor> executor,
   std::string node_name,
   const rclcpp::NodeOptions & node_options)
-: Node(std::move(node_name), rclcpp::NodeOptions(node_options)
-    .start_parameter_services(false)
-    .start_parameter_event_publisher(false)),
+: Node(std::move(node_name), node_options),
   executor_(executor)
 {
   loadNode_srv_ = create_service<LoadNode>(