assuming only one library passed in at a time

Signed-off-by: Siddharth Kucheria <kucheria@usc.edu>
ros2 · Jul 18, 2019 · 5e7b834 · 5e7b834
1 parent 08474d1
commit 5e7b834
Showing 1 changed file with 15 additions and 24 deletions.
diff --git a/rclcpp_components/src/node_main.cpp.in b/rclcpp_components/src/node_main.cpp.in
@@ -99,41 +99,32 @@ int main(int argc, char * argv[])
   // Force flush of the stdout buffer.
   setvbuf(stdout, NULL, _IONBF, BUFSIZ);
 
-  // if (argc < 2) {
-  //   fprintf(stderr, "Requires at least one argument to be passed with the library to load\n");
-  //   return 1;
-  // }
   rclcpp::init(argc, argv);
   rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);
   rclcpp::executors::SingleThreadedExecutor exec;
   rclcpp::NodeOptions options;
   std::vector<class_loader::ClassLoader *> loaders;
   std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;
 
-  std::vector<std::string> libraries;
-  // for (int i = 1; i < argc; ++i) {
-  //   libraries.push_back(argv[i]);
-  // }
   std::string libraryName = "@LIBRARY_NAME@";
-  libraries.push_back(libraryName);
   std::string className = "rclcpp_components::NodeFactoryTemplate<@CLASS_NAME@>";
-  for (auto library : libraries) {
-    RCLCPP_INFO(logger, "Load library %s", library.c_str());
-    auto loader = new class_loader::ClassLoader(library);
-    auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
-    for (auto clazz : classes) {
-      std::string name = clazz.c_str();
-      if (!(name.compare(className))) {
-        RCLCPP_INFO(logger, "Instantiate class %s", clazz.c_str());
-        auto node_factory = loader->createInstance<rclcpp_components::NodeFactory>(clazz);
-        auto wrapper = node_factory->create_node_instance(options);
-        auto node = wrapper.get_node_base_interface();
-        node_wrappers.push_back(wrapper);
-        exec.add_node(node);
-      }
+
+  RCLCPP_INFO(logger, "Load library %s", libraryName.c_str());
+  auto loader = new class_loader::ClassLoader(libraryName);
+  auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
+  for (auto clazz : classes) {
+    std::string name = clazz.c_str();
+    if (!(name.compare(className))) {
+      RCLCPP_INFO(logger, "Instantiate class %s", clazz.c_str());
+      auto node_factory = loader->createInstance<rclcpp_components::NodeFactory>(clazz);
+      auto wrapper = node_factory->create_node_instance(options);
+      auto node = wrapper.get_node_base_interface();
+      node_wrappers.push_back(wrapper);
+      exec.add_node(node);
     }
-    loaders.push_back(loader);
   }
+  loaders.push_back(loader);
+
 
   exec.spin();