From 78854bdb18f998cb4641c2798a51c54f73453455 Mon Sep 17 00:00:00 2001
From: stevemacenski <stevenmacenski@gmail.com>
Date: Wed, 4 Sep 2019 14:30:46 -0700
Subject: [PATCH] plugins receive lifecycle node pointers
---
nav2_core/include/nav2_core/global_planner.hpp | 2 +-
nav2_core/include/nav2_core/recovery.hpp | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/nav2_core/include/nav2_core/global_planner.hpp b/nav2_core/include/nav2_core/global_planner.hpp
index c72d2cc4..323f414a 100644
--- a/nav2_core/include/nav2_core/global_planner.hpp
+++ b/nav2_core/include/nav2_core/global_planner.hpp
@@ -63,7 +63,7 @@ public:
* @param tf A pointer to a TF buffer
* @param costmap_ros A pointer to the costmap
*/
- virtual void configure(const rclcpp::Node * parent,
+ virtual void configure(const rclcpp::LifecycleNode * parent,
const std::string & name, tf2_ros::Buffer * tf,
nav2_costmap_2d::Costmap2DROS * costmap_ros) = 0;
diff --git a/nav2_core/include/nav2_core/recovery.hpp b/nav2_core/include/nav2_core/recovery.hpp
index ca02f3c2..80d67e27 100644
--- a/nav2_core/include/nav2_core/recovery.hpp
+++ b/nav2_core/include/nav2_core/recovery.hpp
@@ -60,7 +60,7 @@ public:
* @param tf A pointer to a TF buffer
* @param costmap_ros A pointer to the costmap
*/
- virtual void configure(const rclcpp::Node * parent,
+ virtual void configure(const rclcpp::LifecycleNode * parent,
const std::string & name, tf2_ros::Buffer * tf) = 0;
/**
--
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