Add getNodeHandle impl (#2840)

Signed-off-by: methylDragon <[email protected]> Co-authored-by: Sebastian Jahr <[email protected]>
moveit · May 19, 2024 · c72ac1b · c72ac1b
1 parent 6454a07
commit c72ac1b
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/...interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/...interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
@@ -164,7 +164,7 @@ class MOVEIT_MOVE_GROUP_INTERFACE_EXPORT MoveGroupInterface
   moveit::core::RobotModelConstPtr getRobotModel() const;
 
   /** \brief Get the ROS node handle of this instance operates on */
-  rclcpp::Node::SharedPtr getNodeHandle();
+  const rclcpp::Node::SharedPtr& getNode() const;
 
   /** \brief Get the name of the frame in which the robot is planning */
   const std::string& getPlanningFrame() const;

diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -2295,6 +2295,11 @@ void MoveGroupInterface::setSupportSurfaceName(const std::string& name)
   impl_->setSupportSurfaceName(name);
 }
 
+const rclcpp::Node::SharedPtr& MoveGroupInterface::getNode() const
+{
+  return impl_->node_;
+}
+
 const std::string& MoveGroupInterface::getPlanningFrame() const
 {
   return impl_->getRobotModel()->getModelFrame();