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rm lifecycle manager events executor #6

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Merged
jplapp merged 1 commit into from
Dec 6, 2022
Merged

rm lifecycle manager events executor #6

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2 changes: 0 additions & 2 deletions nav2_lifecycle_manager/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@ project(nav2_lifecycle_manager)
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(lifecycle_msgs REQUIRED)
find_package(irobot_events_executor REQUIRED)
find_package(nav2_common REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav2_util REQUIRED)
Expand Down Expand Up @@ -37,7 +36,6 @@ set(dependencies
nav2_msgs
nav2_util
rclcpp
irobot_events_executor
rclcpp_action
rclcpp_lifecycle
rclcpp_components
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1 change: 0 additions & 1 deletion nav2_lifecycle_manager/package.xml
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Expand Up @@ -21,7 +21,6 @@
<build_depend>bondcpp</build_depend>
<build_depend>nav2_common</build_depend>
<build_depend>diagnostic_updater</build_depend>
<build_depend>irobot_events_executor</build_depend>

<exec_depend>geometry_msgs</exec_depend>
<exec_depend>lifecycle_msgs</exec_depend>
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7 changes: 1 addition & 6 deletions nav2_lifecycle_manager/src/main.cpp
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Expand Up @@ -15,18 +15,13 @@
#include <memory>

#include "nav2_lifecycle_manager/lifecycle_manager.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_lifecycle_manager::LifecycleManager>();

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

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

return 0;
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