[compat] auto spin in ROS2

sarthou · Jan 24, 2024 · 4a9b47b · 4a9b47b
1 parent 44633c0
commit 4a9b47b
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/include/ontologenius/compat/ros.h b/include/ontologenius/compat/ros.h
@@ -189,7 +189,7 @@ class Node
   friend class Service;
 
   template <typename T>
-  friend class Client; 
+  friend class Client;
 
   Node(Node& other) = delete;
   Node(Node&& other) = delete;
@@ -215,6 +215,7 @@ class Node
   ros::CallbackQueue callback_queue_;
 #elif ONTO_ROS_VERSION == 2
   rclcpp::Node::SharedPtr handle_;
+  std::thread ros_thread_;
 #endif
 
   bool running_;

diff --git a/src/compat/ros.cpp b/src/compat/ros.cpp
@@ -2,8 +2,7 @@
 
 namespace ontologenius::compat::onto_ros
 {
-
-std::string node_name__;
+std::string node_name__ = "OntoRos";
 
 Node& Node::get()
 {
@@ -45,7 +44,7 @@ void Node::spin()
 #if ONTO_ROS_VERSION == 1
   ros::spin();
 #elif ONTO_ROS_VERSION == 2
-  rclcpp::spin(handle_);
+  //rclcpp::spin(handle_);
 #endif
 }
 
@@ -65,6 +64,9 @@ Node::Node(const std::string& node_name) : name_(node_name),
                                            running_(true)
 {
   // todo: should we put something here?
+#if ONTO_ROS_VERSION == 2
+  ros_thread_ = std::thread([this](){rclcpp::spin(handle_);});
+#endif
 }
 
 }