navigation: makes interface inherit from context

examples/cpp/navigation/global_navigation/include/global_navigation.hpp

@@ -13,15 +13,12 @@
 
 using namespace std::chrono_literals; // NOLINT
 
-class GlobalNavigationTest : public px4_ros2::Context
+class GlobalNavigationTest : public px4_ros2::GlobalNavigationInterface
 {
 public:
   explicit GlobalNavigationTest(rclcpp::Node & node)
-  : Context(node), _node(node)
+  : GlobalNavigationInterface(node)
   {
-    // Instantiate global navigation interface
-    _global_navigation_interface = std::make_shared<px4_ros2::GlobalNavigationInterface>(*this);
-
     _timer =
       node.create_wall_timer(1s, std::bind(&GlobalNavigationTest::updateAuxGlobalPosition, this));
 
@@ -39,15 +36,13 @@ class GlobalNavigationTest : public px4_ros2::Context
     global_position_estimate.positional_uncertainty = 0.4f;
 
     px4_ros2::NavigationInterfaceReturnCode retcode;
-    retcode = _global_navigation_interface->update(global_position_estimate);
+    retcode = update(global_position_estimate);
 
     RCLCPP_DEBUG(_node.get_logger(), "Interface returned with: %s.", resultToString(retcode));
   }
 
 private:
-  std::shared_ptr<px4_ros2::GlobalNavigationInterface> _global_navigation_interface;
   rclcpp::TimerBase::SharedPtr _timer;
-  rclcpp::Node & _node;
 };
 
 class ExampleGlobalNavigationNode : public rclcpp::Node

examples/cpp/navigation/local_navigation/include/local_navigation.hpp

@@ -12,20 +12,14 @@
 
 using namespace std::chrono_literals; // NOLINT
 
-class LocalNavigationTest : public px4_ros2::Context
+class LocalNavigationTest : public px4_ros2::LocalNavigationInterface
 {
 public:
-  LocalNavigationTest(rclcpp::Node & node)
-  : Context(node), _node(node)
+  LocalNavigationTest(
+    rclcpp::Node & node, const uint8_t pose_frame,
+    const uint8_t velocity_frame)
+  : LocalNavigationInterface(node, pose_frame, velocity_frame)
   {
-    // Instantiate local navigation interface
-    const uint8_t pose_frame = AuxLocalPosition::POSE_FRAME_NED;
-    const uint8_t velocity_frame = AuxLocalPosition::VELOCITY_FRAME_NED;
-    _local_navigation_interface = std::make_shared<px4_ros2::LocalNavigationInterface>(
-      *this,
-      pose_frame,
-      velocity_frame);
-
     _timer =
       node.create_wall_timer(1s, std::bind(&LocalNavigationTest::updateAuxLocalPosition, this));
 
@@ -48,16 +42,13 @@ class LocalNavigationTest : public px4_ros2::Context
     local_position_estimate.attitude_variance = Eigen::Vector3f {0.2, 0.1, 0.05};
 
     px4_ros2::NavigationInterfaceReturnCode retcode;
-    retcode = _local_navigation_interface->update(local_position_estimate);
+    retcode = update(local_position_estimate);
 
     RCLCPP_DEBUG(_node.get_logger(), "Interface returned with: %s.", resultToString(retcode));
   }
 
 private:
-  std::shared_ptr<px4_ros2::LocalNavigationInterface> _local_navigation_interface;
   rclcpp::TimerBase::SharedPtr _timer;
-  rclcpp::Node & _node;
-
 };
 
 class ExampleLocalNavigationNode : public rclcpp::Node
@@ -75,7 +66,9 @@ class ExampleLocalNavigationNode : public rclcpp::Node
       rcutils_reset_error();
     }
 
-    _interface = std::make_unique<LocalNavigationTest>(*this);
+    const uint8_t pose_frame = AuxLocalPosition::POSE_FRAME_NED;
+    const uint8_t velocity_frame = AuxLocalPosition::VELOCITY_FRAME_NED;
+    _interface = std::make_unique<LocalNavigationTest>(*this, pose_frame, velocity_frame);
 
   }
 

px4_ros2_cpp/include/px4_ros2/navigation/experimental/global_navigation_interface.hpp

@@ -35,7 +35,7 @@ struct GlobalPositionEstimate
 class GlobalNavigationInterface : public NavigationInterfaceBase<GlobalPositionEstimate>
 {
 public:
-  explicit GlobalNavigationInterface(Context & context);
+  explicit GlobalNavigationInterface(rclcpp::Node & node);
   ~GlobalNavigationInterface() override = default;
 
   /**

px4_ros2_cpp/include/px4_ros2/navigation/experimental/local_navigation_interface.hpp

@@ -43,7 +43,7 @@ class LocalNavigationInterface : public NavigationInterfaceBase<LocalPositionEst
 {
 public:
   explicit LocalNavigationInterface(
-    Context & context, const uint8_t pose_frame,
+    rclcpp::Node & node, const uint8_t pose_frame,
     const uint8_t velocity_frame);
   ~LocalNavigationInterface() override = default;
 

px4_ros2_cpp/include/px4_ros2/navigation/experimental/navigation_interface_base.hpp

@@ -43,11 +43,11 @@ constexpr inline const char * resultToString(NavigationInterfaceReturnCode resul
 }
 
 template<typename EstimateType>
-class NavigationInterfaceBase
+class NavigationInterfaceBase : public Context
 {
 public:
-  explicit NavigationInterfaceBase(Context & context)
-  : _node(context.node()) {}
+  explicit NavigationInterfaceBase(rclcpp::Node & node)
+  : Context(node, ""), _node(node) {}
   virtual ~NavigationInterfaceBase() = default;
 
   /**

px4_ros2_cpp/src/navigation/experimental/global_navigation_interface.cpp

@@ -9,12 +9,12 @@
 namespace px4_ros2
 {
 
-GlobalNavigationInterface::GlobalNavigationInterface(Context & context)
-: NavigationInterfaceBase(context)
+GlobalNavigationInterface::GlobalNavigationInterface(rclcpp::Node & node)
+: NavigationInterfaceBase(node)
 {
   _aux_global_position_pub =
-    context.node().create_publisher<AuxGlobalPosition>(
-    context.topicNamespacePrefix() + AUX_GLOBAL_POSITION_TOPIC, 10);
+    node.create_publisher<AuxGlobalPosition>(
+    topicNamespacePrefix() + AUX_GLOBAL_POSITION_TOPIC, 10);
 }
 
 NavigationInterfaceReturnCode GlobalNavigationInterface::update(

px4_ros2_cpp/src/navigation/experimental/local_navigation_interface.cpp

@@ -10,17 +10,17 @@ namespace px4_ros2
 {
 
 LocalNavigationInterface::LocalNavigationInterface(
-  Context & context, const uint8_t pose_frame,
+  rclcpp::Node & node, const uint8_t pose_frame,
   const uint8_t velocity_frame)
-: NavigationInterfaceBase(context)
+: NavigationInterfaceBase(node)
 {
   // Check that selected pose and velocity reference frames are valid
   auto it_pose_frame = std::find(
     std::begin(_available_pose_frames), std::end(
       _available_pose_frames), pose_frame);
   if (it_pose_frame == std::end(_available_pose_frames)) {
     RCLCPP_WARN(
-      context.node().get_logger(), "Failed to initialize LocalNavigationInterface: invalid pose reference frame %i. Setting pose reference frame to POSE_FRAME_UNKNOWN.",
+      node.get_logger(), "Failed to initialize LocalNavigationInterface: invalid pose reference frame %i. Setting pose reference frame to POSE_FRAME_UNKNOWN.",
       pose_frame);
     _pose_frame = AuxLocalPosition::POSE_FRAME_UNKNOWN;
   } else {
@@ -32,16 +32,15 @@ LocalNavigationInterface::LocalNavigationInterface(
       _available_velocity_frames), velocity_frame);
   if (it_vel_frame == std::end(_available_velocity_frames)) {
     RCLCPP_WARN(
-      context.node().get_logger(), "Failed to initialize LocalNavigationInterface: invalid velocity reference frame %i. Setting velocity reference frame to VELOCITY_FRAME_UNKNOWN.",
+      node.get_logger(), "Failed to initialize LocalNavigationInterface: invalid velocity reference frame %i. Setting velocity reference frame to VELOCITY_FRAME_UNKNOWN.",
       velocity_frame);
     _velocity_frame = AuxLocalPosition::VELOCITY_FRAME_UNKNOWN;
   } else {
     _velocity_frame = velocity_frame;
   }
 
-  _aux_local_position_pub = context.node().create_publisher<AuxLocalPosition>(
-    AUX_LOCAL_POSITION_TOPIC, 10);
-
+  _aux_local_position_pub = node.create_publisher<AuxLocalPosition>(
+    topicNamespacePrefix() + AUX_LOCAL_POSITION_TOPIC, 10);
 }
 
 NavigationInterfaceReturnCode LocalNavigationInterface::update(