adapted the environment for EnvInterfaceBase

env_manager/env_interface/include/env_interface/env_interface.hpp

@@ -0,0 +1,14 @@
+#include "env_interface/env_interface_base.hpp"
+
+namespace env_interface
+{
+    class EnvInterface : public EnvInterfaceBase 
+    {
+        public:
+            EnvInterface() = default;
+            virtual ~EnvInterface() = default;
+
+    };
+} // namespace env_interface
+
+

env_manager/env_interface/include/env_interface/env_interface_base.hpp

@@ -0,0 +1,38 @@
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+namespace env_interface
+{
+
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
+class EnvInterfaceBase : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
+{
+public:
+    EnvInterfaceBase() = default;
+
+    virtual ~EnvInterfaceBase() = default;
+
+    virtual CallbackReturn init(
+        const std::string& t_env_name, 
+        const std::string & t_namespace = "", 
+        const rclcpp::NodeOptions & t_node_options = rclcpp::NodeOptions()
+    );
+
+    const rclcpp_lifecycle::State& configure();
+
+    virtual CallbackReturn on_init() = 0;
+
+    std::shared_ptr<rclcpp_lifecycle::LifecycleNode> getNode();
+    std::shared_ptr<rclcpp_lifecycle::LifecycleNode> getNode() const;
+
+    const rclcpp_lifecycle::State & getState() const;
+
+
+    
+private:
+    std::shared_ptr<rclcpp_lifecycle::LifecycleNode> m_node;
+
+
+};
+} // namespace env_interface