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Implement get_node_type_descriptions_interface for lifecyclenode and add test #2237

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merged 1 commit into from Jul 11, 2023
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Implement get_node_type_descriptions_interface for lifecyclenode and add test #2237

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1 change: 1 addition & 0 deletions rclcpp/test/rclcpp/test_node.cpp
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Expand Up @@ -78,6 +78,7 @@ TEST_F(TestNode, construction_and_destruction) {
EXPECT_NE(nullptr, node->get_node_options().get_rcl_node_options());
EXPECT_NE(nullptr, node->get_graph_event());
EXPECT_NE(nullptr, node->get_clock());
EXPECT_NE(nullptr, node->get_node_type_descriptions_interface());
}

{
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4 changes: 4 additions & 0 deletions rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
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Expand Up @@ -824,6 +824,10 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
get_node_time_source_interface();

/// Return the Node's internal NodeTypeDescriptionsInterface implementation.
/**
* \sa rclcpp::Node::get_node_type_descriptions_interface
*/
RCLCPP_LIFECYCLE_PUBLIC
rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
get_node_type_descriptions_interface();
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6 changes: 6 additions & 0 deletions rclcpp_lifecycle/src/lifecycle_node.cpp
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Expand Up @@ -475,6 +475,12 @@ LifecycleNode::get_node_topics_interface()
return node_topics_;
}

rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr
LifecycleNode::get_node_type_descriptions_interface()
{
return node_type_descriptions_;
}

rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
LifecycleNode::get_node_services_interface()
{
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1 change: 1 addition & 0 deletions rclcpp_lifecycle/test/test_lifecycle_node.cpp
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Expand Up @@ -641,6 +641,7 @@ TEST_F(TestDefaultStateMachine, test_getters) {
EXPECT_LT(0u, test_node->now().nanoseconds());
EXPECT_STREQ("testnode", test_node->get_logger().get_name());
EXPECT_NE(nullptr, const_cast<const EmptyLifecycleNode *>(test_node.get())->get_clock());
EXPECT_NE(nullptr, test_node->get_node_type_descriptions_interface());
}

TEST_F(TestDefaultStateMachine, test_graph_topics) {
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