Merge pull request #2 from mrmara/main

Added full constructor support

Author: mgonzs13

simple_node/include/simple_node/node.hpp

@@ -27,6 +27,8 @@
 #include "simple_node/actions/action_client.hpp"
 #include "simple_node/actions/action_server.hpp"
 
+#include "rclcpp/node_options.hpp"
+
 namespace simple_node {
 
 class Node : public rclcpp::Node {
@@ -36,6 +38,7 @@ class Node : public rclcpp::Node {
   Node(std::string name, rclcpp::Executor *executor);
   Node(std::string name, std::string _namespace);
   Node(std::string name, std::string _namespace, rclcpp::Executor *executor);
+  Node(std::string name, std::string _namespace, const rclcpp::NodeOptions &options = rclcpp::NodeOptions());
   ~Node();
 
   void join_spin();

simple_node/simple_node/node.py

@@ -34,9 +34,29 @@
 class Node(Node2):
     """ Node Class """
 
-    def __init__(self, node_name: str, namespace: str = "", executor: Executor = None) -> None:
-
-        super().__init__(node_name, namespace=namespace)
+    def __init__(self, node_name: str,
+                        context = None,
+                        cli_args = None,
+                        namespace = "",
+                        use_global_arguments = True,
+                        enable_rosout = True,
+                        start_parameter_services = True,
+                        parameter_overrides = None,
+                        allow_undeclared_parameters = False,
+                        automatically_declare_parameters_from_overrides = False, 
+                        executor = None):
+
+        super().__init__(node_name,
+                        context = context,
+                        cli_args = cli_args,
+                        namespace = namespace,
+                        use_global_arguments = use_global_arguments,
+                        enable_rosout=enable_rosout,
+                        start_parameter_services=start_parameter_services,
+                        parameter_overrides=parameter_overrides,
+                        allow_undeclared_parameters=allow_undeclared_parameters,
+                        automatically_declare_parameters_from_overrides=automatically_declare_parameters_from_overrides
+                        )
 
         if not executor:
             self._executor = MultiThreadedExecutor()

simple_node/src/simple_node/node.cpp

@@ -35,6 +35,8 @@ Node::Node(std::string name, std::string _namespace, rclcpp::Executor *executor)
   this->executor = executor;
   this->spin_thread = new std::thread(&Node::run_executor, this);
 }
+Node::Node(std::string name, std::string _namespace, const rclcpp::NodeOptions &options):
+    rclcpp::Node(name, _namespace, options) {}
 
 Node::~Node() {
   delete this->executor;