Add Client Thread for costmap_client_node (ros-navigation#3108)

lge-ros2 · Aug 24, 2022 · 6de42c2 · 6de42c2
1 parent 4f9d1f1
commit 6de42c2
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diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
@@ -258,6 +258,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
 
 protected:
   rclcpp::Node::SharedPtr client_node_;
+  std::unique_ptr<nav2_util::NodeThread> client_thread_;
 
   // Publishers and subscribers
   rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::PolygonStamped>::SharedPtr

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -83,6 +83,7 @@ Costmap2DROS::Costmap2DROS(
   auto options = rclcpp::NodeOptions().arguments(
     {"--ros-args", "-r", std::string("__node:=") + get_name() + "_client", "--"});
   client_node_ = std::make_shared<rclcpp::Node>("_", options);
+  client_thread_ = std::make_unique<nav2_util::NodeThread>(client_node_);
 
   std::vector<std::string> clearable_layers{"obstacle_layer"};