node.h

#pragma once
 
#include <memory>
#include <string>
 
#include <rclcpp/rclcpp.hpp>
 
namespace mrs_lib
{
 
  class Node
  {
 
  protected:
    explicit Node(const std::string& node_name, const rclcpp::NodeOptions& options = rclcpp::NodeOptions())
        : node_(std::make_shared<rclcpp::Node>(node_name, options))
    {
    }
 
    explicit Node(const std::string& node_name, const std::string& namespace_, const rclcpp::NodeOptions& options = rclcpp::NodeOptions())
        : node_(std::make_shared<rclcpp::Node>(node_name, namespace_, options))
    {
    }
 
    ~Node() = default;
    Node(const Node&) = delete;
    Node& operator=(const Node&) = delete;
    Node(Node&&) = delete;
    Node& operator=(Node&&) = delete;
 
    [[nodiscard]] rclcpp::Node& this_node() noexcept
    {
      return *node_;
    }
    [[nodiscard]] const rclcpp::Node& this_node() const noexcept
    {
      return *node_;
    }
    [[nodiscard]] rclcpp::Node::SharedPtr this_node_ptr() const noexcept
    {
      return node_;
    }
 
  public:
    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface()
    {
      return node_->get_node_base_interface();
    }
 
  private:
    rclcpp::Node::SharedPtr node_;
  };
 
} // namespace mrs_lib