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Set node name, namespace, remappings after class_loader createInstance?

asked 2019-02-11 09:19:24 -0500

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

How do I set the node name, namespace, or remappings of a node created with class_loader createInstance?

There's a discussion on discourse from 2017 https://discourse.ros.org/t/using-cla... - manage nodes are the solution?

This is the composition demo code:

loader = new class_loader::ClassLoader(library_path);
std::string class_name = ...
...
auto node = loader->createInstance<rclcpp::Node>(class_name);

After that it is too late to set node parameters.

Maybe something like this:

auto lifecycle_node = loader->createInstance<rclcpp_lifecycle::LifecycleNode>(class_name);

Followed by what to set the node parameters? Would it work with any composable node?

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answered 2019-02-21 10:27:10 -0500

lucasw

8729 ●137 ●239 ●256 https://github.com/lucasw

It sounds like there will be proper support for this in the future https://github.com/ros2/rclcpp/issues... (update this answer when there is), but my current solution is a custom rclcpp that allows post-constructor initialization.

The custom rclcpp could be in a regular colcon_ws and all nodes that need to make use of it need to be there in source form as well to build off of it ( #q315794 deals with an issue related to that, the fix may be already released or will be soon)- but currently I'm building everything from source as described in https://github.com/lucasw/imgui_ros/i... .

Then I can have a node loader node that has a service call to spawn nodes, and set all their settings:

node = loader->createInstance<rclcpp::Node>(full_node_plugin_name);
node->init(node_name, node_namespace,
           rclcpp::contexts::default_context::get_global_default_context(),
           arguments, parameters);

https://github.com/lucasw/imgui_ros/b...

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Asked: 2019-02-11 09:19:24 -0500

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Last updated: Feb 21 '19

Set node name, namespace, remappings after class_loader createInstance? edit

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Set node name, namespace, remappings after class_loader createInstance?