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rclcpp 0.4.0 changes
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parthc-rob committed Jun 12, 2018
1 parent 010dd86 commit ac926c4
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Showing 9 changed files with 13 additions and 13 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -61,10 +61,10 @@ class ControllerInterface : public rclcpp_lifecycle::node_interfaces::LifecycleN
protected:
std::weak_ptr<hardware_interface::RobotHardware> robot_hardware_;
std::shared_ptr<rclcpp_lifecycle::LifecycleNode> lifecycle_node_;
std::shared_ptr<rclcpp::parameter_client::AsyncParametersClient> parameters_client_;
std::shared_ptr<rclcpp::AsyncParametersClient> parameters_client_;

private:
std::shared_ptr<rclcpp::node::Node> parameter_client_node_;
std::shared_ptr<rclcpp::Node> parameter_client_node_;
};

} // namespace controller_interface
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2 changes: 1 addition & 1 deletion controller_interface/src/controller_interface.cpp
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Expand Up @@ -47,7 +47,7 @@ ControllerInterface::init(
std::bind(&ControllerInterface::on_error, this, std::placeholders::_1));

std::string remote_controller_parameter_server = "controller_parameter_server";
parameters_client_ = std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(
parameters_client_ = std::make_shared<rclcpp::AsyncParametersClient>(
lifecycle_node_->get_node_base_interface(),
lifecycle_node_->get_node_topics_interface(),
lifecycle_node_->get_node_graph_interface(),
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Expand Up @@ -37,7 +37,7 @@ class ClassLoader;
namespace controller_manager
{

class ControllerManager : public rclcpp::node::Node
class ControllerManager : public rclcpp::Node
{
public:
CONTROLLER_MANAGER_PUBLIC
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2 changes: 1 addition & 1 deletion controller_manager/src/controller_manager.cpp
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Expand Up @@ -130,7 +130,7 @@ ControllerManager::ControllerManager(
std::shared_ptr<hardware_interface::RobotHardware> hw,
std::shared_ptr<rclcpp::executor::Executor> executor,
const std::string & manager_node_name)
: rclcpp::node::Node(manager_node_name),
: rclcpp::Node(manager_node_name),
hw_(hw),
executor_(executor)
{}
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2 changes: 1 addition & 1 deletion controller_manager/test/test_controller_manager.cpp
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Expand Up @@ -31,7 +31,7 @@ class TestControllerManager : public ::testing::Test
public:
static void SetUpTestCase()
{
rclcpp::utilities::init(0, nullptr);
rclcpp::init(0, nullptr);
}

void SetUp()
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2 changes: 1 addition & 1 deletion controller_manager/test/test_load_controller.cpp
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Expand Up @@ -31,7 +31,7 @@ class TestControllerManager : public ::testing::Test
public:
static void SetUpTestCase()
{
rclcpp::utilities::init(0, nullptr);
rclcpp::init(0, nullptr);
}

void SetUp()
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Expand Up @@ -25,7 +25,7 @@
namespace controller_parameter_server
{

class ParameterServer : public rclcpp::node::Node
class ParameterServer : public rclcpp::Node
{
public:
CONTROLLER_PARAMETER_SERVER_PUBLIC
Expand All @@ -48,7 +48,7 @@ class ParameterServer : public rclcpp::node::Node
load_parameters(const std::string & key, const std::string & value);

private:
std::shared_ptr<rclcpp::parameter_service::ParameterService> parameter_service_;
std::shared_ptr<rclcpp::ParameterService> parameter_service_;
};

} // namespace controller_parameter_server
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4 changes: 2 additions & 2 deletions controller_parameter_server/src/parameter_server.cpp
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Expand Up @@ -22,14 +22,14 @@ namespace controller_parameter_server
{

ParameterServer::ParameterServer()
: rclcpp::node::Node("controller_parameter_server")
: rclcpp::Node("controller_parameter_server")
{}

void
ParameterServer::init()
{
parameter_service_ =
std::make_shared<rclcpp::parameter_service::ParameterService>(shared_from_this());
std::make_shared<rclcpp::ParameterService>(shared_from_this());
}

void
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4 changes: 2 additions & 2 deletions controller_parameter_server/test/test_parameter_server.cpp
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Expand Up @@ -84,9 +84,9 @@ TEST_F(TestControllerParameterServer, load_config_file) {
ps->init();
ps->load_parameters(file_path);

auto client_node = std::make_shared<rclcpp::node::Node>("test_parameter_client_node");
auto client_node = std::make_shared<rclcpp::Node>("test_parameter_client_node");
auto parameters_client =
std::make_shared<rclcpp::parameter_client::AsyncParametersClient>(client_node, ps->get_name());
std::make_shared<rclcpp::AsyncParametersClient>(client_node, ps->get_name());

rclcpp::executors::MultiThreadedExecutor executor;
executor.add_node(ps);
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