add humble-navigation2

navigation2/nav2_util/src/node_thread.cpp

@@ -0,0 +1,47 @@
+// Copyright (c) 2019 Intel Corporation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+
+#include "nav2_util/node_thread.hpp"
+
+namespace nav2_util
+{
+
+NodeThread::NodeThread(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base)
+: node_(node_base)
+{
+  executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+  thread_ = std::make_unique<std::thread>(
+    [&]()
+    {
+      executor_->add_node(node_);
+      executor_->spin();
+      executor_->remove_node(node_);
+    });
+}
+
+NodeThread::NodeThread(rclcpp::executors::SingleThreadedExecutor::SharedPtr executor)
+: executor_(executor)
+{
+  thread_ = std::make_unique<std::thread>([&]() {executor_->spin();});
+}
+
+NodeThread::~NodeThread()
+{
+  executor_->cancel();
+  thread_->join();
+}
+
+}  // namespace nav2_util