Fixup

tesseract-robotics · Jul 4, 2024 · d2dd2f1 · d2dd2f1
1 parent a2f1a59
commit d2dd2f1
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Showing 3 changed files with 20 additions and 12 deletions.
diff --git a/tesseract_monitoring/src/environment_monitor.cpp b/tesseract_monitoring/src/environment_monitor.cpp
@@ -187,7 +187,7 @@ bool ROSEnvironmentMonitor::initialize()
     return false;
   }
 
-  last_update_time_ = last_robot_motion_time_ = node_->now();
+  last_update_time_ = last_robot_motion_time_ = internal_node_->now();
   last_robot_state_update_wall_time_ = rclcpp::Clock().now();
 
   state_update_pending_ = false;
@@ -642,7 +642,7 @@ void ROSEnvironmentMonitor::startStateMonitor(const std::string& joint_states_to
   if (env_)
   {
     if (!current_state_monitor_)
-      current_state_monitor_ = std::make_unique<CurrentStateMonitor>(env_, node_);
+      current_state_monitor_ = std::make_unique<CurrentStateMonitor>(env_, internal_node_);
 
     current_state_monitor_->addUpdateCallback(
         std::bind(&ROSEnvironmentMonitor::onJointStateUpdate, this, std::placeholders::_1));  // NOLINT

diff --git a/tesseract_rosutils/include/tesseract_rosutils/plotting.h b/tesseract_rosutils/include/tesseract_rosutils/plotting.h
@@ -135,7 +135,7 @@ class ROSPlotting : public tesseract_visualization::Visualization
   std::string root_link_;       /**< Root link of markers */
   std::string topic_namespace_; /**< Namespace used when publishing markers */
   int marker_counter_{ 0 };     /**< Counter when plotting */
-  rclcpp::Node::SharedPtr node_;
+  rclcpp::Node::SharedPtr internal_node_;
   rclcpp::executors::MultiThreadedExecutor::SharedPtr internal_node_executor_;
   std::shared_ptr<std::thread> internal_node_spinner_;
   rclcpp::Publisher<tesseract_msgs::msg::SceneGraph>::SharedPtr scene_pub_;           /**< Scene publisher */

diff --git a/tesseract_rosutils/src/plotting.cpp b/tesseract_rosutils/src/plotting.cpp
@@ -53,15 +53,23 @@ static constexpr const char* NODE_ID = "tesseract_rosutils_plotting";
 ROSPlotting::ROSPlotting(std::string root_link, std::string topic_namespace)
   : root_link_(std::move(root_link)), topic_namespace_(std::move(topic_namespace))
 {
-  node_ = std::make_shared<rclcpp::Node>(NODE_ID);
-  trajectory_pub_ =
-      node_->create_publisher<tesseract_msgs::msg::Trajectory>(topic_namespace_ + "/display_tesseract_trajectory", 1);
-  collisions_pub_ =
-      node_->create_publisher<visualization_msgs::msg::MarkerArray>(topic_namespace_ + "/display_collisions", 1);
-  arrows_pub_ = node_->create_publisher<visualization_msgs::msg::MarkerArray>(topic_namespace_ + "/display_arrows", 1);
-  axes_pub_ = node_->create_publisher<visualization_msgs::msg::MarkerArray>(topic_namespace_ + "/display_axes", 1);
-  tool_path_pub_ =
-      node_->create_publisher<visualization_msgs::msg::MarkerArray>(topic_namespace_ + "/display_tool_path", 1);
+  internal_node_ = std::make_shared<rclcpp::Node>(NODE_ID);
+  trajectory_pub_ = internal_node_->create_publisher<tesseract_msgs::msg::Trajectory>(topic_namespace_ + "/display_"
+                                                                                                         "tesseract_"
+                                                                                                         "trajectory",
+                                                                                      1);
+  collisions_pub_ = internal_node_->create_publisher<visualization_msgs::msg::MarkerArray>(topic_namespace_ + "/display"
+                                                                                                              "_collisi"
+                                                                                                              "ons",
+                                                                                           1);
+  arrows_pub_ =
+      internal_node_->create_publisher<visualization_msgs::msg::MarkerArray>(topic_namespace_ + "/display_arrows", 1);
+  axes_pub_ =
+      internal_node_->create_publisher<visualization_msgs::msg::MarkerArray>(topic_namespace_ + "/display_axes", 1);
+  tool_path_pub_ = internal_node_->create_publisher<visualization_msgs::msg::MarkerArray>(topic_namespace_ + "/display_"
+                                                                                                             "tool_"
+                                                                                                             "path",
+                                                                                          1);
 
   internal_node_executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
   internal_node_spinner_ = std::make_shared<std::thread>([this]() {