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I figured it out:

Since I was porting the code from ROS1, they initiated their node like this:

class OPEN_VRnode
{
  public:
    OPEN_VRnode(int rate);
    ~OPEN_VRnode();
    bool Init();
    void Run();
    void Shutdown();
    bool setOriginCB(const std::shared_ptr<std_srvs::srv::Empty::Request> req, std::shared_ptr<std_srvs::srv::Empty::Response> res);
    void set_feedback(const sensor_msgs::msg::JoyFeedback::ConstPtr msg);
    rclcpp::Node:: nh_;
    VRInterface vr_;

...

OPEN_VRnode::OPEN_VRnode(int rate)
  : loop_rate_(rate)
  , nh_("open_vr_node")
  , vr_()
  , world_offset_({0, 0, 0})
  , world_yaw_(0)
{

But this resulted in no shared_ptr being created, so then later in the code when I ran rclcpp::spin_some(nh_.get_shared_from_this()); there was no valid shared ptr to pass to spin_some.

Fixed the issue by changing nh_ to nh_ptr_ and the type from rclcpp::Node to rclcpp::Node::SharedPtr and then initializing it in the class constructor.

Full code can be found on my repository:
https://github.com/NU-Haptics-Lab/open_vr_ros/tree/ros2