Ignore global parameters when spawning sub-nodes #851
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Make additional nodes ignore global arguments Fix another instance of nodes taking the command line name
nav2_util/src/node_utils.cpp
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| options.start_parameter_services(false); | ||
| options.start_parameter_event_publisher(false); | ||
| return rclcpp::Node::make_shared(generate_internal_node_name(prefix)); | ||
| // options.start_parameter_services(false); |
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Prefer removing commented-out code. I'm generally not a fan of leaving commented-out code around for documentation purposes, but would instead rather have it in the revision history and keep the current code as clean as possible.
| @@ -46,7 +46,8 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/) | |||
| auto node = shared_from_this(); | |||
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| // Support for handling the topic-based goal pose from rviz | |||
| client_node_ = std::make_shared<rclcpp::Node>("bt_navigator_client_node"); | |||
| client_node_ = | |||
| std::make_shared<rclcpp::Node>("bt_navigator_client_node", rclcpp::NodeOptions().use_global_arguments(false)); | |||
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Looks like the code is exceeding 100 columns here and will fail the cpplint tool. Please run ament_cpplint and ament_uncrustify. We're trying to get all code to pass cleanly.
Correct documentation.
Codecov Report
@@ Coverage Diff @@
## master #851 +/- ##
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Coverage 20.5% 20.5%
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Files 181 181
Lines 9305 9305
Branches 2259 2258 -1
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Hits 1908 1908
- Misses 6319 6321 +2
+ Partials 1078 1076 -2
Continue to review full report at Codecov.
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Scott raised some good points about this, and I have a better solution in the pipeline. Should I change this pull request or close and create a new one? |
Fixes #842
To test, run the nav stack with node name overrides in your launch file.