From 7f40f10e89246df33f1bcd409947ce8cddf95840 Mon Sep 17 00:00:00 2001
From: GuillaumeLaine <guillaume.william1@hotmail.com>
Date: Thu, 23 Nov 2023 11:56:10 +0100
Subject: [PATCH] navigation: moves node to base class

---
 .../navigation/experimental/global_navigation_interface.hpp  | 1 -
 .../navigation/experimental/local_navigation_interface.hpp   | 1 -
 .../navigation/experimental/navigation_interface_base.hpp    | 5 ++++-
 .../navigation/experimental/global_navigation_interface.cpp  | 2 +-
 .../navigation/experimental/local_navigation_interface.cpp   | 2 +-
 5 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/px4_ros2_cpp/include/px4_ros2/navigation/experimental/global_navigation_interface.hpp b/px4_ros2_cpp/include/px4_ros2/navigation/experimental/global_navigation_interface.hpp
index 1d11dba..56baa89 100644
--- a/px4_ros2_cpp/include/px4_ros2/navigation/experimental/global_navigation_interface.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/navigation/experimental/global_navigation_interface.hpp
@@ -68,7 +68,6 @@ class GlobalNavigationInterface : public NavigationInterfaceBase<GlobalPositionE
    */
   bool _isValueNotNAN(const GlobalPositionEstimate & estimate) const override;
 
-  rclcpp::Node & _node;
   rclcpp::Publisher<AuxGlobalPosition>::SharedPtr _aux_global_position_pub;
 
   // uint8_t _altitude_frame;
diff --git a/px4_ros2_cpp/include/px4_ros2/navigation/experimental/local_navigation_interface.hpp b/px4_ros2_cpp/include/px4_ros2/navigation/experimental/local_navigation_interface.hpp
index c5d0318..a0b0e73 100644
--- a/px4_ros2_cpp/include/px4_ros2/navigation/experimental/local_navigation_interface.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/navigation/experimental/local_navigation_interface.hpp
@@ -77,7 +77,6 @@ class LocalNavigationInterface : public NavigationInterfaceBase<LocalPositionEst
    */
   bool _isValueNotNAN(const LocalPositionEstimate & estimate) const override;
 
-  rclcpp::Node & _node;
   rclcpp::Publisher<AuxLocalPosition>::SharedPtr _aux_local_position_pub;
 
   uint8_t _pose_frame;
diff --git a/px4_ros2_cpp/include/px4_ros2/navigation/experimental/navigation_interface_base.hpp b/px4_ros2_cpp/include/px4_ros2/navigation/experimental/navigation_interface_base.hpp
index 0adfdfa..02cef26 100644
--- a/px4_ros2_cpp/include/px4_ros2/navigation/experimental/navigation_interface_base.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/navigation/experimental/navigation_interface_base.hpp
@@ -15,7 +15,8 @@ template<typename EstimateType>
 class NavigationInterfaceBase
 {
 public:
-  explicit NavigationInterfaceBase() = default;
+  explicit NavigationInterfaceBase(Context & context)
+  : _node(context.node()) {}
   virtual ~NavigationInterfaceBase() = default;
 
   /**
@@ -29,6 +30,8 @@ class NavigationInterfaceBase
   virtual bool _isVarianceValid(const EstimateType & estimate) const = 0;
   virtual bool _isFrameValid(const EstimateType & estimate) const = 0;
   virtual bool _isValueNotNAN(const EstimateType & estimate) const = 0;
+
+  rclcpp::Node & _node;
 };
 
 } // namespace px4_ros2
diff --git a/px4_ros2_cpp/src/navigation/experimental/global_navigation_interface.cpp b/px4_ros2_cpp/src/navigation/experimental/global_navigation_interface.cpp
index 14f2b51..91fac66 100644
--- a/px4_ros2_cpp/src/navigation/experimental/global_navigation_interface.cpp
+++ b/px4_ros2_cpp/src/navigation/experimental/global_navigation_interface.cpp
@@ -10,7 +10,7 @@ namespace px4_ros2
 {
 
 GlobalNavigationInterface::GlobalNavigationInterface(Context & context)
-: _node(context.node())
+: NavigationInterfaceBase(context)
 {
   _aux_global_position_pub =
     context.node().create_publisher<AuxGlobalPosition>(
diff --git a/px4_ros2_cpp/src/navigation/experimental/local_navigation_interface.cpp b/px4_ros2_cpp/src/navigation/experimental/local_navigation_interface.cpp
index dcfec71..afffd34 100644
--- a/px4_ros2_cpp/src/navigation/experimental/local_navigation_interface.cpp
+++ b/px4_ros2_cpp/src/navigation/experimental/local_navigation_interface.cpp
@@ -12,7 +12,7 @@ namespace px4_ros2
 LocalNavigationInterface::LocalNavigationInterface(
   Context & context, const uint8_t pose_frame,
   const uint8_t velocity_frame)
-: _node(context.node())
+: NavigationInterfaceBase(context)
 {
   // Check that selected pose and velocity reference frames are valid
   auto it_pose_frame = std::find(