Support custom rclcpp::NodeOptions (#417) (#423)

* Support custom `rclcpp::NodeOptions`

This eases static composition of multiple ROS 2 nodes

* Fix

* Update aggregator.hpp

(cherry picked from commit 53555cf)

Co-authored-by: Patrick Roncagliolo <[email protected]>

Author: ct2034

diagnostic_aggregator/include/diagnostic_aggregator/aggregator.hpp

@@ -111,6 +111,13 @@ class Aggregator
   DIAGNOSTIC_AGGREGATOR_PUBLIC
   Aggregator();
 
+  /*!
+   *\brief Constructor initializes with main prefix (ex: '/Robot') and custom node options
+   */
+  DIAGNOSTIC_AGGREGATOR_PUBLIC
+  explicit Aggregator(rclcpp::NodeOptions options);
+
+
   DIAGNOSTIC_AGGREGATOR_PUBLIC
   virtual ~Aggregator();
 

diagnostic_aggregator/src/aggregator.cpp

@@ -57,9 +57,12 @@ using diagnostic_msgs::msg::DiagnosticStatus;
  * @todo(anordman): make aggregator a lifecycle node.
  */
 Aggregator::Aggregator()
+: Aggregator(rclcpp::NodeOptions()) {}
+
+Aggregator::Aggregator(rclcpp::NodeOptions options)
 : n_(std::make_shared<rclcpp::Node>(
       "analyzers", "",
-      rclcpp::NodeOptions().allow_undeclared_parameters(true).
+      options.allow_undeclared_parameters(true).
       automatically_declare_parameters_from_overrides(true))),
   logger_(rclcpp::get_logger("Aggregator")),
   pub_rate_(1.0),