runtime/env_manager/gz_enviroment/src/gz_enviroment.cpp

#include "gz_enviroment/gz_enviroment.hpp"

namespace gz_enviroment
{

GzEnviroment::GzEnviroment()
: rclcpp_lifecycle::LifecycleNode("gz_enviroment") {}

CallbackReturn GzEnviroment::on_configure(const rclcpp_lifecycle::State& )
{
    RCLCPP_INFO(this->get_logger(), "GzEnvirometn is on_configure");
    m_tf2_broadcaster = std::make_unique<tf2_ros::TransformBroadcaster>(this);
    m_gz_node = std::make_shared<ignition::transport::Node>();
    m_gz_node->Subscribe(m_topic_name, &GzEnviroment::onGzPoseSub, this);

    return CallbackReturn::SUCCESS;
}

CallbackReturn GzEnviroment::on_cleanup(const rclcpp_lifecycle::State&)
{
    RCLCPP_INFO(this->get_logger(), "GzEnviroment is on_cleanup");
    
    m_tf2_broadcaster.reset();
    m_gz_node.reset();
    
    return CallbackReturn::SUCCESS;
}

CallbackReturn GzEnviroment::on_activate(const rclcpp_lifecycle::State&)
{
    RCLCPP_INFO(this->get_logger(), "GzEnviroment is on_activate");
    
    
    return CallbackReturn::SUCCESS;
}

CallbackReturn GzEnviroment::on_deactivate(const rclcpp_lifecycle::State&)
{
    RCLCPP_INFO(this->get_logger(), "GzEnviroment is on_deactivate");
    
    
    return CallbackReturn::SUCCESS;
}

void onGzPoseSub(const gz::msgs::Pose_V& pose_v)
{
    
}


}

#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(
    gz_enviroment::GzEnviroment, rclcpp_lifecycle::LifecycleNode
);