Merge pull request #135 from cactusdynamics/fix-ros2-integration

fix ROS2 integration
cactusdynamics · Sep 4, 2024 · c950edb · c950edb
2 parents 239944a + 94f93e1
commit c950edb
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diff --git a/include/cactus_rt/ros2/app.h b/include/cactus_rt/ros2/app.h
@@ -69,8 +69,6 @@ class App : public cactus_rt::App {
     return thread;
   }
 
-  void Start(int64_t start_monotonic_time_ns = -1) override;
-
   void RequestStop() override;
 
   void Join() override;

diff --git a/src/cactus_rt/ros2/app.cc b/src/cactus_rt/ros2/app.cc
@@ -4,7 +4,6 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include "cactus_rt/signal_handler.h"
-#include "cactus_rt/utils.h"
 
 namespace cactus_rt::ros2 {
 
@@ -60,16 +59,6 @@ App::~App() {
   rclcpp::shutdown();
 }
 
-void App::Start(int64_t start_monotonic_time_ns) {
-  // Start the Ros2ExecutorThread first. Don't think it is 100% necessary but why not get a head start.
-  if (start_monotonic_time_ns == -1) {
-    start_monotonic_time_ns = NowNs();
-  }
-
-  ros2_executor_thread_->Start(start_monotonic_time_ns);
-  cactus_rt::App::Start(start_monotonic_time_ns);
-}
-
 void App::RequestStop() {
   // Stop all the registered threads first, then stop the Ros2ExecutorThread
   // after the normal threads are joined to ensure we flush messages. See App::Join.