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Ignore global parameters when spawning sub-nodes #851

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Ignore global parameters when spawning sub-nodes #851

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0633e23
Ignore global parameters when spawning sub-nodes
rotu Jun 13, 2019
3f8e650
Merge branch 'master' into subnode_ignore_global_args
rotu Jun 13, 2019
b40f275
Fix accidental regression on merge
rotu Jun 13, 2019
4efce6f
Fix typo
rotu Jun 13, 2019
ac09676
Fix linter errors.
rotu Jun 13, 2019
0f3cb80
minor whitespace fix
rotu Jun 13, 2019
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3 changes: 2 additions & 1 deletion nav2_bt_navigator/src/bt_navigator.cpp
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Expand Up @@ -46,7 +46,8 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
auto node = shared_from_this();

// 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.


self_client_ = rclcpp_action::create_client<nav2_msgs::action::NavigateToPose>(
client_node_, "NavigateToPose");
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2 changes: 1 addition & 1 deletion nav2_costmap_2d/src/costmap_2d_ros.cpp
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Expand Up @@ -56,7 +56,7 @@ Costmap2DROS::Costmap2DROS(const std::string & name)
: nav2_util::LifecycleNode(name, name, true), name_(name)
{
RCLCPP_INFO(get_logger(), "Creating");
client_node_ = std::make_shared<rclcpp::Node>(name + "_client");
client_node_ = std::make_shared<rclcpp::Node>(name + "_client", rclcpp::NodeOptions().use_global_arguments(false));

std::vector<std::string> plugin_names{"static_layer", "obstacle_layer", "inflation_layer"};
std::vector<std::string> plugin_types{"nav2_costmap_2d::StaticLayer",
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3 changes: 2 additions & 1 deletion nav2_lifecycle_manager/src/lifecycle_manager.cpp
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Expand Up @@ -53,7 +53,8 @@ LifecycleManager::LifecycleManager()
shutdown_srv_ = create_service<std_srvs::srv::Empty>("lifecycle_manager/shutdown",
std::bind(&LifecycleManager::shutdownCallback, this, _1, _2, _3));

service_client_node_ = std::make_shared<rclcpp::Node>("lifecycle_manager_service_client");
service_client_node_ = std::make_shared<rclcpp::Node>("lifecycle_manager_service_client",
rclcpp::NodeOptions().use_global_arguments(false));

if (autostart_) {
startup();
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3 changes: 2 additions & 1 deletion nav2_rviz_plugins/src/navigation_dialog.cpp
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Expand Up @@ -42,7 +42,8 @@ NavigationDialog::onCancelButtonPressed()
NavigationDialog::NavigationDialog(QWidget * parent)
: QDialog(parent)
{
client_node_ = std::make_shared<rclcpp::Node>("navigation_dialog_action_client");
client_node_ = std::make_shared<rclcpp::Node>("navigation_dialog_action_client",
rclcpp::NodeOptions().use_global_arguments(false));
action_client_ = rclcpp_action::create_client<nav2_msgs::action::NavigateToPose>(client_node_,
"NavigateToPose");
goal_ = nav2_msgs::action::NavigateToPose::Goal();
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2 changes: 1 addition & 1 deletion nav2_util/include/nav2_util/service_client.hpp
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Expand Up @@ -43,7 +43,7 @@ class ServiceClient
ServiceClient(const std::string & service_name, const std::string & parent_name)
: service_name_(service_name)
{
node_ = rclcpp::Node::make_shared(parent_name + std::string("_") + service_name + "_client");
node_ = rclcpp::Node::make_shared(parent_name + std::string("_") + service_name + "_client", rclcpp::NodeOptions().use_global_arguments(false));
client_ = node_->create_client<ServiceT>(service_name);
}

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3 changes: 2 additions & 1 deletion nav2_util/src/lifecycle_node.cpp
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Expand Up @@ -48,7 +48,8 @@ LifecycleNode::LifecycleNode(
{
if (use_rclcpp_node_) {
stop_rclcpp_thread_ = false;
rclcpp_node_ = std::make_shared<rclcpp::Node>(node_name + "_rclcpp_node", namespace_);
rclcpp_node_ = std::make_shared<rclcpp::Node>(node_name + "_rclcpp_node", namespace_,
rclcpp::NodeOptions().use_global_arguments(false));
rclcpp_thread_ = std::make_unique<std::thread>(
[&](rclcpp::Node::SharedPtr node) {
while (!stop_rclcpp_thread_ && rclcpp::ok()) {rclcpp::spin_some(node);}}, rclcpp_node_
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6 changes: 3 additions & 3 deletions nav2_util/src/node_utils.cpp
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Expand Up @@ -67,9 +67,9 @@ rclcpp::Node::SharedPtr generate_internal_node(const std::string & prefix)
{
rclcpp::NodeOptions options;
options.use_global_arguments(false);
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.

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Done

// options.start_parameter_event_publisher(false);
return rclcpp::Node::make_shared(generate_internal_node_name(prefix), options);
}

rclcpp::NodeOptions
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