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ROS 2 Composable Node Pass NodeHandler

asked 2019-08-16 16:05:33 -0600

zipp39 gravatar image

I have an object that does some internal publishing and subscribing within my Component Class. In ROS 1 we passed the node_handler to the constructor so that class had access to things of that nature. However, I believe the concept of node_handler is obsolete in ROS 2. Is there something similar that I can pass into the constructor to have access to node functions, etc..? Are there other solutions?


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answered 2021-03-09 22:23:58 -0600

AndyZe gravatar image

updated 2021-03-09 22:26:09 -0600

The way you pass a Node from one C++ class to another is with shared_from_this() and std::shared_ptr.


Class A inherits from rclcpp::Node. Get the node pointer like this:

auto node_ptr = shared_from_this();

Pass to another class (Class B) like this:

shared_pointer_to_class_b_object = std::make_shared<ClassB>(node_ptr);

The constructor of Class B should take a rclcpp::Node::SharedPtr node:

ClassB(rclcpp::Node::SharedPtr node) : node_(node)

And it should have a private member variable:

  // Pointer to the ROS node
  std::shared_ptr<rclcpp::Node> node_;

ROS2 documentation is still lacking and it helps to be a C++ guru :/

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Shoot, this was working for me yesterday. Today it fails with a bad_weak_ptr error. Must be missing something...

AndyZe gravatar image AndyZe  ( 2021-03-10 16:55:15 -0600 )edit

The moment I call auto node_ptr = shared_from_this(); I get a bad_weak_ptr runtime error. I then realised it is because I call shared_from_this() in the constructor of Class A. (Silly mistake). I now moved the call out to the event handler of a subscriber. Sorted. Thank you for the clear explanation

Slaghuis gravatar image Slaghuis  ( 2021-07-01 08:39:37 -0600 )edit

I try to follow your logic but no result. @AndyZe@Slaghuis can you provide code example or point me to some work repos.

ghuan4 gravatar image ghuan4  ( 2021-08-31 09:59:08 -0600 )edit

answered 2019-08-29 09:55:34 -0600

mjcarroll gravatar image

In ROS1, the ros::NodeHandle was provided as a protected member of the ros::Nodelet class. In contrast, in ROS2, it is expected that user will create their own rclcpp::Node from the rclcpp::NodeOptions structure passed into the user's constructor.

In the composition paradigm, the thing that you want to compose will either directly inherit from rclcpp::Node or keep a rclcpp::Node as a member.

A demonstration of an object that inherits from rclcpp::Node is available in the ROS2 Demos package:

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I think this doesn't quite answer the question, because I have the same question. Say you already have a class that inherits from rclcpp::Node. How do you pass that Node to the constructor of another class?

I don't think it would make sense for every single C++ class to inherit from rclcpp::Node.

AndyZe gravatar image AndyZe  ( 2021-03-09 21:56:48 -0600 )edit

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Asked: 2019-08-16 16:05:33 -0600

Seen: 556 times

Last updated: Mar 09 '21