Merge pull request #189 from aica-technology/feat/tf-node

feat(components): use parent node for tf listener (cpp)

Author: domire8

CHANGELOG.md

@@ -21,6 +21,7 @@ Release Versions:
 ## Upcoming changes
 
 - feat: improve devcontainer configuration (#198)
+- feat: use parent node for tf listener (cpp) (#189)
 
 ## 5.1.0
 

source/modulo_components/include/modulo_components/ComponentInterface.hpp

@@ -544,9 +544,9 @@ class ComponentInterface {
       const std::string& frame, const std::string& reference_frame, const tf2::TimePoint& time_point,
       const tf2::Duration& duration);
 
-  double rate_; ///< The component rate in Hz
-  double period_; ///< The componet period in s
-  std::mutex step_mutex_; ///< Mutex for step callback
+  double rate_;          ///< The component rate in Hz
+  double period_;        ///< The componet period in s
+  std::mutex step_mutex_;///< Mutex for step callback
 
   std::map<std::string, modulo_core::Predicate> predicates_;///< Map of predicates
   std::shared_ptr<rclcpp::Publisher<modulo_interfaces::msg::PredicateCollection>>

source/modulo_components/src/ComponentInterface.cpp

@@ -488,7 +488,8 @@ void ComponentInterface::add_tf_listener() {
     RCLCPP_DEBUG(this->node_logging_->get_logger(), "Adding TF buffer and listener.");
     console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_NONE);
     this->tf_buffer_ = std::make_shared<tf2_ros::Buffer>(this->node_clock_->get_clock());
-    this->tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*this->tf_buffer_);
+    this->tf_listener_ = std::make_shared<tf2_ros::TransformListener>(
+        *this->tf_buffer_, this->node_base_, this->node_logging_, this->node_parameters_, this->node_topics_);
   } else {
     RCLCPP_DEBUG(this->node_logging_->get_logger(), "TF buffer and listener already exist.");
   }

source/modulo_components/test/cpp/test_component_communication.cpp

@@ -64,8 +64,7 @@ TEST_F(ComponentCommunicationTest, TwistInputOutput) {
   auto twist = std::make_shared<geometry_msgs::msg::Twist>();
   twist->linear.x = 1.0;
   auto input_node = std::make_shared<MinimalTwistInput<Component>>(rclcpp::NodeOptions(), "/topic");
-  auto output_node =
-      std::make_shared<MinimalTwistOutput<Component>>(rclcpp::NodeOptions(), "/topic", twist, true);
+  auto output_node = std::make_shared<MinimalTwistOutput<Component>>(rclcpp::NodeOptions(), "/topic", twist, true);
   this->exec_->add_node(input_node);
   this->exec_->add_node(output_node);
   auto return_code = this->exec_->spin_until_future_complete(input_node->received_future, 500ms);