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Revert "add events executor to main" #44

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Merged
tonynajjar merged 1 commit into from
Aug 29, 2023
Merged

Revert "add events executor to main" #44

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2 changes: 0 additions & 2 deletions nav2_behaviors/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 3.5)
project(nav2_behaviors)

find_package(ament_cmake REQUIRED)
find_package(irobot_events_executor REQUIRED)
find_package(nav2_common REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
Expand Down Expand Up @@ -31,7 +30,6 @@ set(executable_name behavior_server)

set(dependencies
rclcpp
irobot_events_executor
rclcpp_action
rclcpp_lifecycle
rclcpp_components
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1 change: 0 additions & 1 deletion nav2_behaviors/package.xml
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Expand Up @@ -12,7 +12,6 @@
<build_depend>nav2_common</build_depend>

<build_depend>rclcpp</build_depend>
<build_depend>irobot_events_executor</build_depend>
<build_depend>rclcpp_action</build_depend>
<build_depend>rclcpp_lifecycle</build_depend>
<build_depend>nav2_behavior_tree</build_depend>
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6 changes: 1 addition & 5 deletions nav2_behaviors/src/main.cpp
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Expand Up @@ -16,18 +16,14 @@
#include <memory>

#include "nav2_behaviors/behavior_server.hpp"
#include "rclcpp/executors/events_executor/events_executor.hpp"
#include "rclcpp/rclcpp.hpp"

int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
auto recoveries_node = std::make_shared<behavior_server::BehaviorServer>();

auto executor = std::make_shared<rclcpp::executors::EventsExecutor>();

executor->add_node(recoveries_node->get_node_base_interface());
executor->spin();
rclcpp::spin(recoveries_node->get_node_base_interface());
rclcpp::shutdown();

return 0;
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2 changes: 0 additions & 2 deletions nav2_controller/CMakeLists.txt
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Expand Up @@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 3.5)
project(nav2_controller)

find_package(ament_cmake REQUIRED)
find_package(irobot_events_executor REQUIRED)
find_package(nav2_core REQUIRED)
find_package(nav2_common REQUIRED)
find_package(angles REQUIRED)
Expand Down Expand Up @@ -37,7 +36,6 @@ add_library(${library_name} SHARED
set(dependencies
angles
rclcpp
irobot_events_executor
rclcpp_action
rclcpp_components
std_msgs
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8 changes: 1 addition & 7 deletions nav2_controller/src/main.cpp
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Expand Up @@ -15,19 +15,13 @@
#include <memory>

#include "nav2_controller/controller_server.hpp"

#include "rclcpp/executors/events_executor/events_executor.hpp"
#include "rclcpp/rclcpp.hpp"

int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<nav2_controller::ControllerServer>();

auto executor = std::make_shared<rclcpp::executors::EventsExecutor>();

executor->add_node(node->get_node_base_interface());
executor->spin();
rclcpp::spin(node->get_node_base_interface());
rclcpp::shutdown();

return 0;
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2 changes: 0 additions & 2 deletions nav2_planner/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 3.5)
project(nav2_planner)

find_package(ament_cmake REQUIRED)
find_package(irobot_events_executor REQUIRED)
find_package(nav2_common REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
Expand Down Expand Up @@ -31,7 +30,6 @@ set(library_name ${executable_name}_core)

set(dependencies
rclcpp
irobot_events_executor
rclcpp_action
rclcpp_lifecycle
rclcpp_components
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1 change: 0 additions & 1 deletion nav2_planner/package.xml
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Expand Up @@ -10,7 +10,6 @@
<buildtool_depend>ament_cmake</buildtool_depend>

<depend>rclcpp</depend>
<depend>irobot_events_executor</depend>
<depend>rclcpp_action</depend>
<depend>rclcpp_lifecycle</depend>
<depend>visualization_msgs</depend>
Expand Down
9 changes: 1 addition & 8 deletions nav2_planner/src/main.cpp
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Expand Up @@ -16,20 +16,13 @@
#include <memory>

#include "nav2_planner/planner_server.hpp"

#include "rclcpp/executors/events_executor/events_executor.hpp"
#include "rclcpp/rclcpp.hpp"

int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<nav2_planner::PlannerServer>();

auto executor = std::make_shared<rclcpp::executors::EventsExecutor>();

executor->add_node(node->get_node_base_interface());
executor->spin();

rclcpp::spin(node->get_node_base_interface());
rclcpp::shutdown();

return 0;
Expand Down