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Replace Node templates with NodeInterfaces #54

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Yadunund opened this issue Jan 7, 2025 · 0 comments
Open

Replace Node templates with NodeInterfaces #54

Yadunund opened this issue Jan 7, 2025 · 0 comments
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enhancement New feature or request

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@Yadunund
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Yadunund commented Jan 7, 2025 •
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There are many APIs in Nexus which are templated to work with both rclcpp::Node and rclcpp_lifecycle::LifecycleNode. However this creates unnecessary template overhead and increased compilation time.

We should instead convert these APIs to accept a rclcpp:NodeInterface arg.

While we're at it also rename functions to snake case especially in nexus_lifecycle_manager.
@Yadunund Yadunund added the enhancement New feature or request label Jan 7, 2025
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