navigation: moves node to base class

Auterion · Nov 23, 2023 · 7f40f10 · 7f40f10
1 parent 2495962
commit 7f40f10
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Showing 5 changed files with 6 additions and 5 deletions.
diff --git a/px4_ros2_cpp/include/px4_ros2/navigation/experimental/global_navigation_interface.hpp b/px4_ros2_cpp/include/px4_ros2/navigation/experimental/global_navigation_interface.hpp
@@ -68,7 +68,6 @@ class GlobalNavigationInterface : public NavigationInterfaceBase<GlobalPositionE
    */
   bool _isValueNotNAN(const GlobalPositionEstimate & estimate) const override;
 
-  rclcpp::Node & _node;
   rclcpp::Publisher<AuxGlobalPosition>::SharedPtr _aux_global_position_pub;
 
   // uint8_t _altitude_frame;

diff --git a/px4_ros2_cpp/include/px4_ros2/navigation/experimental/local_navigation_interface.hpp b/px4_ros2_cpp/include/px4_ros2/navigation/experimental/local_navigation_interface.hpp
@@ -77,7 +77,6 @@ class LocalNavigationInterface : public NavigationInterfaceBase<LocalPositionEst
    */
   bool _isValueNotNAN(const LocalPositionEstimate & estimate) const override;
 
-  rclcpp::Node & _node;
   rclcpp::Publisher<AuxLocalPosition>::SharedPtr _aux_local_position_pub;
 
   uint8_t _pose_frame;

diff --git a/px4_ros2_cpp/include/px4_ros2/navigation/experimental/navigation_interface_base.hpp b/px4_ros2_cpp/include/px4_ros2/navigation/experimental/navigation_interface_base.hpp
@@ -15,7 +15,8 @@ template<typename EstimateType>
 class NavigationInterfaceBase
 {
 public:
-  explicit NavigationInterfaceBase() = default;
+  explicit NavigationInterfaceBase(Context & context)
+  : _node(context.node()) {}
   virtual ~NavigationInterfaceBase() = default;
 
   /**
@@ -29,6 +30,8 @@ class NavigationInterfaceBase
   virtual bool _isVarianceValid(const EstimateType & estimate) const = 0;
   virtual bool _isFrameValid(const EstimateType & estimate) const = 0;
   virtual bool _isValueNotNAN(const EstimateType & estimate) const = 0;
+
+  rclcpp::Node & _node;
 };
 
 } // namespace px4_ros2
diff --git a/px4_ros2_cpp/src/navigation/experimental/global_navigation_interface.cpp b/px4_ros2_cpp/src/navigation/experimental/global_navigation_interface.cpp
@@ -10,7 +10,7 @@ namespace px4_ros2
 {
 
 GlobalNavigationInterface::GlobalNavigationInterface(Context & context)
-: _node(context.node())
+: NavigationInterfaceBase(context)
 {
   _aux_global_position_pub =
     context.node().create_publisher<AuxGlobalPosition>(

diff --git a/px4_ros2_cpp/src/navigation/experimental/local_navigation_interface.cpp b/px4_ros2_cpp/src/navigation/experimental/local_navigation_interface.cpp
@@ -12,7 +12,7 @@ namespace px4_ros2
 LocalNavigationInterface::LocalNavigationInterface(
   Context & context, const uint8_t pose_frame,
   const uint8_t velocity_frame)
-: _node(context.node())
+: NavigationInterfaceBase(context)
 {
   // Check that selected pose and velocity reference frames are valid
   auto it_pose_frame = std::find(