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locusrobotics / fuse

The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
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Use upstream rclcpp::node_interfaces::NodeInterfaces #313

Closed sloretz closed 1 year ago

sloretz commented 1 year ago

Towards #276 requires ros2/rclcpp#2094

This switches fuse to use the upstream rclcpp::node_interfaces::NodeInterfaces. It will have to be merged later as upstream needs a default constructor to be usable here.

@svwilliams FYI

sloretz commented 1 year ago

Marked ready for review since https://github.com/ros/rosdistro/pull/35993

@methylDragon would you be willing to give this a review?

methylDragon commented 1 year ago

I think this will need a little bit more iteration, the nodeinterfaces implementation on rclcpp can't take in Node::SharedPtrs because of lack of support in RHEL..

So it'll require all instances of passing in a pointer to the node interfaces constructor to dereference that pointer...

methylDragon commented 1 year ago

https://github.com/sloretz/fuse/pull/1 !