Update code for lifecycle_node

Signed-off-by: Barry Xu <barry.xu@sony.com>
ros2 · Apr 7, 2023 · 0ca98ec · 0ca98ec
1 parent d278d1f
commit 0ca98ec
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Showing 2 changed files with 1 addition and 12 deletions.
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -63,7 +63,6 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
 #include "rclcpp/node_options.hpp"
-#include "rclcpp/node_builtin_executor.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_clock_interface.hpp"
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
@@ -1088,8 +1087,6 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
 
-  rclcpp::NodeBuiltinExecutor::UniquePtr node_builtin_executor_;
-
   const rclcpp::NodeOptions node_options_;
 
   class LifecycleNodeInterfaceImpl;

diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp
@@ -34,7 +34,6 @@
 #include "rclcpp/graph_listener.hpp"
 #include "rclcpp/logger.hpp"
 #include "rclcpp/node.hpp"
-#include "rclcpp/node_builtin_executor.hpp"
 #include "rclcpp/node_interfaces/node_base.hpp"
 #include "rclcpp/node_interfaces/node_clock.hpp"
 #include "rclcpp/node_interfaces/node_graph.hpp"
@@ -77,7 +76,7 @@ LifecycleNode::LifecycleNode(
       options.use_intra_process_comms(),
       options.enable_topic_statistics())),
   node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
-  node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_.get())),
+  node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_)),
   node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
   node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get(), node_timers_.get())),
   node_services_(new rclcpp::node_interfaces::NodeServices(node_base_.get())),
@@ -115,12 +114,6 @@ LifecycleNode::LifecycleNode(
       options.use_clock_thread()
     )),
   node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
-  node_builtin_executor_(new rclcpp::NodeBuiltinExecutor(
-      node_base_,
-      node_topics_,
-      node_services_,
-      options
-  )),
   node_options_(options),
   impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_))
 {
@@ -149,7 +142,6 @@ LifecycleNode::LifecycleNode(
 LifecycleNode::~LifecycleNode()
 {
   // release sub-interfaces in an order that allows them to consult with node_base during tear-down
-  node_builtin_executor_.reset();
   node_waitables_.reset();
   node_time_source_.reset();
   node_parameters_.reset();