Support custom rclcpp::NodeOptions (#417)

* Support custom `rclcpp::NodeOptions` This eases static composition of multiple ROS 2 nodes * Fix * Update aggregator.hpp
ros · Jan 7, 2025 · 53555cf · 53555cf
1 parent cca0f14
commit 53555cf
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Showing 2 changed files with 11 additions and 1 deletion.
diff --git a/diagnostic_aggregator/include/diagnostic_aggregator/aggregator.hpp b/diagnostic_aggregator/include/diagnostic_aggregator/aggregator.hpp
@@ -111,6 +111,13 @@ class Aggregator
   DIAGNOSTIC_AGGREGATOR_PUBLIC
   Aggregator();
 
+  /*!
+   *\brief Constructor initializes with main prefix (ex: '/Robot') and custom node options
+   */
+  DIAGNOSTIC_AGGREGATOR_PUBLIC
+  explicit Aggregator(rclcpp::NodeOptions options);
+
+
   DIAGNOSTIC_AGGREGATOR_PUBLIC
   virtual ~Aggregator();
 

diff --git a/diagnostic_aggregator/src/aggregator.cpp b/diagnostic_aggregator/src/aggregator.cpp
@@ -57,9 +57,12 @@ using diagnostic_msgs::msg::DiagnosticStatus;
  * @todo(anordman): make aggregator a lifecycle node.
  */
 Aggregator::Aggregator()
+: Aggregator(rclcpp::NodeOptions()) {}
+
+Aggregator::Aggregator(rclcpp::NodeOptions options)
 : n_(std::make_shared<rclcpp::Node>(
       "analyzers", "",
-      rclcpp::NodeOptions().allow_undeclared_parameters(true).
+      options.allow_undeclared_parameters(true).
       automatically_declare_parameters_from_overrides(true))),
   logger_(rclcpp::get_logger("Aggregator")),
   pub_rate_(1.0),