Add additional lifecycle constructor

ros-perception · Oct 20, 2021 · 8524ee9 · 8524ee9
1 parent 152f769
commit 8524ee9
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diff --git a/camera_info_manager/include/camera_info_manager/camera_info_manager.hpp b/camera_info_manager/include/camera_info_manager/camera_info_manager.hpp
@@ -43,6 +43,7 @@
 #include <string>
 
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "sensor_msgs/msg/camera_info.hpp"
 #include "sensor_msgs/srv/set_camera_info.hpp"
 #include "camera_info_manager/visibility_control.h"
@@ -187,6 +188,12 @@ class CameraInfoManager
     const std::string & cname = "camera",
     const std::string & url = "");
 
+  CAMERA_INFO_MANAGER_PUBLIC
+  CameraInfoManager(
+    rclcpp_lifecycle::LifecycleNode * node,
+    const std::string & cname = "camera",
+    const std::string & url = "");
+
   CAMERA_INFO_MANAGER_PUBLIC
   CameraInfoManager(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,

diff --git a/camera_info_manager/src/camera_info_manager.cpp b/camera_info_manager/src/camera_info_manager.cpp
@@ -85,6 +85,14 @@ CameraInfoManager::CameraInfoManager(
 {
 }
 
+CameraInfoManager::CameraInfoManager(
+  rclcpp_lifecycle::LifecycleNode * node,
+  const std::string & cname, const std::string & url)
+: CameraInfoManager(node->get_node_base_interface(),
+    node->get_node_services_interface(), node->get_node_logging_interface(), cname, url)
+{
+}
+
 CameraInfoManager::CameraInfoManager(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
   rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,