Compatiblity with 'Populate Transitions' ros2/rcl#1269

Signed-off-by: SuperJappie08 <[email protected]>

Author: SuperJappie08

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -122,7 +122,7 @@ LifecycleNode::LifecycleNode(
     )),
   node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
   node_options_(options),
-  impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_, node_logging_))
+  impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_, node_logging_, node_clock_))
 {
   impl_->init(enable_communication_interface);
 

rclcpp_lifecycle/src/lifecycle_node_interface_impl.cpp

@@ -31,6 +31,7 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_logging_interface.hpp"
 #include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/node_interfaces/node_clock_interface.hpp"
 
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
@@ -52,10 +53,12 @@ namespace rclcpp_lifecycle
 LifecycleNode::LifecycleNodeInterfaceImpl::LifecycleNodeInterfaceImpl(
   std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base_interface,
   std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface,
-  std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface)
+  std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface,
+  std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface> node_clock_interface)
 : node_base_interface_(node_base_interface),
   node_services_interface_(node_services_interface),
-  node_logging_interface_(node_logging_interface)
+  node_logging_interface_(node_logging_interface),
+  node_clock_interface_(node_clock_interface)
 {
 }
 
@@ -86,6 +89,8 @@ LifecycleNode::LifecycleNodeInterfaceImpl::init(bool enable_communication_interf
   state_machine_options.enable_com_interface = enable_communication_interface;
   state_machine_options.allocator = node_options->allocator;
 
+  rcl_clock_t * clock = node_clock_interface_->get_clock()->get_clock_handle();
+
   // The call to initialize the state machine takes
   // currently five different typesupports for all publishers/services
   // created within the RCL_LIFECYCLE structure.
@@ -97,6 +102,7 @@ LifecycleNode::LifecycleNodeInterfaceImpl::init(bool enable_communication_interf
   rcl_ret_t ret = rcl_lifecycle_state_machine_init(
     &state_machine_,
     node_handle,
+    clock,
     ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent),
     rosidl_typesupport_cpp::get_service_type_support_handle<ChangeStateSrv>(),
     rosidl_typesupport_cpp::get_service_type_support_handle<GetStateSrv>(),

rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp

@@ -34,6 +34,7 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_logging_interface.hpp"
 #include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/node_interfaces/node_clock_interface.hpp"
 
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
@@ -54,7 +55,8 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
   LifecycleNodeInterfaceImpl(
     std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> node_base_interface,
     std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface> node_services_interface,
-    std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface);
+    std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface> node_logging_interface,
+    std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface> node_clock_interface);
 
   ~LifecycleNodeInterfaceImpl();
 
@@ -155,6 +157,7 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
   using NodeBasePtr = std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>;
   using NodeServicesPtr = std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface>;
   using NodeLoggingPtr = std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>;
+  using NodeClockPtr = std::shared_ptr<rclcpp::node_interfaces::NodeClockInterface>;
   using ChangeStateSrvPtr = std::shared_ptr<rclcpp::Service<ChangeStateSrv>>;
   using GetStateSrvPtr = std::shared_ptr<rclcpp::Service<GetStateSrv>>;
   using GetAvailableStatesSrvPtr =
@@ -167,6 +170,7 @@ class LifecycleNode::LifecycleNodeInterfaceImpl final
   NodeBasePtr node_base_interface_;
   NodeServicesPtr node_services_interface_;
   NodeLoggingPtr node_logging_interface_;
+  NodeClockPtr node_clock_interface_;
   ChangeStateSrvPtr srv_change_state_;
   GetStateSrvPtr srv_get_state_;
   GetAvailableStatesSrvPtr srv_get_available_states_;