Move lifecycle interfaces to be public, also add rclcpp::shutdown() t…

…o finish cleanly the node when shutting down
umdlife · Jan 29, 2024 · 5ed628b · 5ed628b
1 parent 26e5043
commit 5ed628b
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/psdk_wrapper/include/psdk_wrapper/psdk_wrapper.hpp b/psdk_wrapper/include/psdk_wrapper/psdk_wrapper.hpp
@@ -179,7 +179,6 @@ class PSDKWrapper : public rclcpp_lifecycle::LifecycleNode
    */
   ~PSDKWrapper();
 
- protected:
   /**
    * @brief Configures member variable and sets the environment
    * @param state Reference to Lifecycle state

diff --git a/psdk_wrapper/src/psdk_wrapper.cpp b/psdk_wrapper/src/psdk_wrapper.cpp
@@ -23,7 +23,9 @@ namespace psdk_ros2
 {
 PSDKWrapper::PSDKWrapper(const std::string &node_name)
     : rclcpp_lifecycle::LifecycleNode(
-          node_name, "", rclcpp::NodeOptions().use_intra_process_comms(true))
+          node_name, "", rclcpp::NodeOptions().use_intra_process_comms(true).arguments(
+              {"--ros-args", "-r",
+               node_name + ":" + std::string("__node:=") + node_name}))
 {
   RCLCPP_INFO(get_logger(), "Creating Constructor PSDKWrapper");
   declare_parameter("app_name", rclcpp::ParameterValue(""));
@@ -152,6 +154,7 @@ PSDKWrapper::on_shutdown(const rclcpp_lifecycle::State &state)
 
   global_ptr_.reset();
   RCLCPP_INFO(get_logger(), "Shutting down PSDKWrapper");
+  rclcpp::shutdown();
   return CallbackReturn::SUCCESS;
 }