Use parent node options (#24)

Signed-off-by: Yadunund <[email protected]>
osrf · Nov 14, 2023 · 8356d14 · 8356d14
1 parent 60413ca
commit 8356d14
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Showing 3 changed files with 5 additions and 31 deletions.
diff --git a/nexus_motion_planner/CMakeLists.txt b/nexus_motion_planner/CMakeLists.txt
@@ -33,6 +33,7 @@ set (motion_planner_server_dependencies
 )
 
 set (test_request_dependencies
+  moveit_msgs
   nexus_endpoints
   geometry_msgs
   rclcpp

diff --git a/nexus_motion_planner/launch/demo_planner_server.launch.py b/nexus_motion_planner/launch/demo_planner_server.launch.py
@@ -197,7 +197,7 @@ def launch_setup(context, *args, **kwargs):
         executable="static_transform_publisher",
         name="motion_planner_static_transform_publisher_base_link_t_item",
         output="log",
-        arguments=["0.3", "0.2", "0.1", "0.0", "0.0", "0.0", "base_link", "item"],
+        arguments=["0.6", "0.2", "0.5", "3.14", "0.0", "3.14", "base_link", "item"],
         condition=IfCondition(publish_item),
     )
 

diff --git a/nexus_motion_planner/src/motion_planner_server.cpp b/nexus_motion_planner/src/motion_planner_server.cpp
@@ -20,17 +20,14 @@ MotionPlannerServer::MotionPlannerServer(const rclcpp::NodeOptions& options)
 {
   RCLCPP_INFO(this->get_logger(), "Motion Planner Server is running...");
 
-  auto internal_node_options = rclcpp::NodeOptions();
-  internal_node_options.automatically_declare_parameters_from_overrides(true);
-  internal_node_options.use_global_arguments(false);
   _internal_node = std::make_shared<rclcpp::Node>(
-    "motion_planner_server_internal_node", internal_node_options);
+    "motion_planner_server_internal_node", options);
   _spin_thread = std::thread(
-    [this]()
+    [node = _internal_node]()
     {
       while (rclcpp::ok())
       {
-        rclcpp::spin_some(_internal_node);
+        rclcpp::spin_some(node);
       }
     });
 
@@ -70,30 +67,6 @@ MotionPlannerServer::MotionPlannerServer(const rclcpp::NodeOptions& options)
       this->declare_parameter("default_group_name", "manipulator");
     _group_names.insert({name, std::move(group_name)});
 
-    const std::string description_param_name = _use_namespace ?
-      name + ".robot_description" : "robot_description";
-    const auto description_param =
-      this->declare_parameter(
-      description_param_name,
-      rclcpp::ParameterType::PARAMETER_STRING);
-
-    // Push robot_description parameter to internal node
-    _internal_node->declare_parameter(
-      description_param_name,
-      description_param);
-
-    const std::string description_semantic_param_name = _use_namespace ?
-      name + ".robot_description_semantic" : "robot_description_semantic";
-    const auto description_semantic_param =
-      this->declare_parameter(
-      description_semantic_param_name,
-      rclcpp::ParameterType::PARAMETER_STRING);
-
-    // Push robot_description_semantic parameter to internal node
-    _internal_node->declare_parameter(
-      description_semantic_param_name,
-      description_semantic_param);
-
   }
   RCLCPP_INFO(
     this->get_logger(),