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fix ROS2 integration #135

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merged 1 commit into from
Sep 4, 2024
Merged

fix ROS2 integration #135

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2 changes: 0 additions & 2 deletions include/cactus_rt/ros2/app.h
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Original file line number Diff line number Diff line change
Expand Up @@ -69,8 +69,6 @@ class App : public cactus_rt::App {
return thread;
}

void Start(int64_t start_monotonic_time_ns = -1) override;

void RequestStop() override;

void Join() override;
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11 changes: 0 additions & 11 deletions src/cactus_rt/ros2/app.cc
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Expand Up @@ -4,7 +4,6 @@
#include <rclcpp/rclcpp.hpp>

#include "cactus_rt/signal_handler.h"
#include "cactus_rt/utils.h"

namespace cactus_rt::ros2 {

Expand Down Expand Up @@ -60,16 +59,6 @@ App::~App() {
rclcpp::shutdown();
}

void App::Start(int64_t start_monotonic_time_ns) {
// Start the Ros2ExecutorThread first. Don't think it is 100% necessary but why not get a head start.
if (start_monotonic_time_ns == -1) {
start_monotonic_time_ns = NowNs();
}

ros2_executor_thread_->Start(start_monotonic_time_ns);
cactus_rt::App::Start(start_monotonic_time_ns);
}

void App::RequestStop() {
// Stop all the registered threads first, then stop the Ros2ExecutorThread
// after the normal threads are joined to ensure we flush messages. See App::Join.
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