Program Listing for File component_manager.hpp
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// Copyright 2021 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef DOMAIN_BRIDGE__COMPONENT_MANAGER_HPP__
#define DOMAIN_BRIDGE__COMPONENT_MANAGER_HPP__
#include "rclcpp_components/component_manager.hpp"
#include <memory>
#include <unordered_map>
#include "domain_bridge/visibility_control.hpp"
namespace domain_bridge
{
class ComponentManager : public rclcpp_components::ComponentManager
{
using rclcpp_components::ComponentManager::ComponentManager;
protected:
DOMAIN_BRIDGE_PUBLIC
rclcpp::NodeOptions
create_node_options(const std::shared_ptr<LoadNode::Request> request) override;
private:
std::unordered_map<std::size_t, std::shared_ptr<rclcpp::Context>> contexts_;
};
} // namespace domain_bridge
#endif // DOMAIN_BRIDGE__COMPONENT_MANAGER_HPP__