Disalbe external interfaces of LifecycleNode.

destogl · destogl · commit 0910d43c6d1f · 2022-03-06T11:24:20.000+01:00
diff --git a/controller_interface/src/controller_interface.cpp b/controller_interface/src/controller_interface.cpp
@@ -26,9 +26,11 @@ namespace controller_interface
 return_type ControllerInterface::init(const std::string & controller_name)
 {
   node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
-    controller_name, rclcpp::NodeOptions()
-                       .allow_undeclared_parameters(true)
-                       .automatically_declare_parameters_from_overrides(true));
+    controller_name,
+    rclcpp::NodeOptions()
+      .allow_undeclared_parameters(true)
+      .automatically_declare_parameters_from_overrides(true),
+    false);
 
   try
   {

Original file line number	Diff line number	Diff line change
`@@ -26,9 +26,11 @@ namespace controller_interface`
`26`	`26`	`return_type ControllerInterface::init(const std::string & controller_name)`
`27`	`27`	`{`
`28`	`28`	`node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(`
`29`		`- controller_name, rclcpp::NodeOptions()`
`30`		`- .allow_undeclared_parameters(true)`
`31`		`- .automatically_declare_parameters_from_overrides(true));`
	`29`	`+ controller_name,`
	`30`	`+ rclcpp::NodeOptions()`
	`31`	`+ .allow_undeclared_parameters(true)`
	`32`	`+ .automatically_declare_parameters_from_overrides(true),`
	`33`	`+ false);`
`32`	`34`
`33`	`35`	`try`
`34`	`36`	`{`