Make diagnostic aggregator composable #435
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ct2034
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Hi @nnarain, Is this PR still being worked on? |
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hey @frozenreboot Ya I should be able to get back to this. If I don't find the time this week I'll give you a ping. Hey @ct2034 any initial feedback on this PR? |
Timple
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Jan 3, 2026
| * the aggregator will report the error and publish it in the aggregated output. | ||
| */ | ||
| class Aggregator | ||
| class Aggregator : public rclcpp::Node |
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This is not required for composable nodes.
Franky: I would advise against it. It's hard if you want this class as a member of another class.
This pr would be much smaller if you kept the node member and the logger member.
nnarain
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Heya.
This PR makes the
diagnostic_aggregatornode composable (see #321 )Summary of changes:
Aggregatorclass inherit fromrclcpp::Node. Removing thestd::shared_ptr<Node>member variable.Analyzerbase class to accept aNode&instead of thestd::shared_ptrrclcpp_componentAnalyzerGroupplugin as existing the analyzers library. When composing the nodes I found thatAnalyzerGroupwould not load. I assume it has worked up to this point because everything was linked into the same executable.