Motion planner (MoveIt) and Task planner (Plansys) integration

env_manager/include/component_manager/node_component.hpp

@@ -0,0 +1,36 @@
+#ifndef ENV_MANAGER__COMPONENT_MANAGER__NODE_COMPONENT_HPP__
+#define ENV_MANAGER__COMPONENT_MANAGER__NODE_COMPONENT_HPP__
+
+#include "component_manager/visibility_control.h"
+
+#include "rclcpp/node.hpp"
+
+namespace env_manager
+{
+namespace component_manager
+{
+
+const std::string DEFAULT_NODE_NODE_NAME = "env_manager_node";
+
+//TODO: interhit all another components from this node_component
+class NodeComponent: public rclcpp::Node
+{
+public:
+    explicit NodeComponent(const rclcpp::NodeOptions& options)
+        :Node(DEFAULT_NODE_NODE_NAME, options)
+    {
+        auto ret = rcutils_logging_set_logger_level(
+            get_logger().get_name(), RCUTILS_LOG_SEVERITY_FATAL);
+        if (ret != RCUTILS_RET_OK)
+        {
+            RCLCPP_ERROR(get_logger(),
+                "Error setting severity: %s", rcutils_get_error_string().str);
+            rcutils_reset_error();
+        }
+    }
+};
+
+} // namesapce component_manager
+} // namesapce env_manager
+
+#endif // ENV_MANAGER__COMPONENT_MANAGER__NODE_COMPONENT_HPP__