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Support custom rclcpp::NodeOptions #417

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Support custom rclcpp::NodeOptions #417

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4eca979
Support custom `rclcpp::NodeOptions`
roncapat Dec 9, 2024
e05094a
Fix
roncapat Dec 9, 2024
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7 changes: 7 additions & 0 deletions diagnostic_aggregator/include/diagnostic_aggregator/aggregator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Aggregator(rclcpp::NodeOptions options);


DIAGNOSTIC_AGGREGATOR_PUBLIC
virtual ~Aggregator();

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5 changes: 4 additions & 1 deletion diagnostic_aggregator/src/aggregator.cpp
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Expand Up @@ -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),
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