Support LifeCycleNode

[elsayedelsheikh]

What is the recommended way while dealing with LifeCycle nodes?

File lifecycle_example.hpp:

protected:
    void dataCallback(sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
    point_cloud_transport::Subscriber data_sub_;
    sensor_msgs::msg::PointCloud2::ConstSharedPtr data_;

File lifecycle_example.cpp:

void lifeCycleNodeExample::configure()
{
  rclcpp_lifecycle::LifecycleNode::SharedPtr node = node_.lock();
  if (!node) {
    throw std::runtime_error{"Failed to lock node"};
  }

  std::string source_topic;

  getParameters(source_topic);

  data_sub_ = point_cloud_transport::create_subscription(
    std::dynamic_pointer_cast<rclcpp::Node>(node),
    source_topic,
    std::bind(&lifeCycleNodeExample::dataCallback, this, std::placeholders::_1),
    "raw"
  );
}

lifeCycleNodeExample::~lifeCycleNodeExample()
{
  RCLCPP_INFO(logger_, "[%s]: Destroying PointCloud", source_name_.c_str());
  data_sub_.shutdown();
}

Thanks :)