Environment manager base architecture implemented

env_manager/include/component_manager/component_manager.hpp

@@ -0,0 +1,50 @@
+#ifndef COMPONENT_MANAGER__COMPONENT_MANAGER_HPP_
+#define COMPONENT_MANAGER__COMPONENT_MANAGER_HPP_
+
+#include "component_manager/visibility_control.h"
+#include "config/options.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/component_manager.hpp>
+#include <rclcpp_components/node_factory.hpp>
+#include <class_loader/class_loader.hpp>
+
+#include <glog/logging.h>
+
+
+namespace env_manager
+{
+namespace component_manager
+{
+
+/**
+ * This class implements the system for managing and configuring loaded components. 
+ * 
+ * It is assumed that the loaded components are inherited from the classes 
+ *  provided in the library for each node type. 
+ */
+class ComponentManager
+{
+public:
+    ComponentManager(std::weak_ptr<rclcpp::Executor> executor);
+
+    void register_components(
+            const std::map<std::string, config::ComponentOption> &comps, 
+            const std::map<std::string, config::NodeOption> &nodes,
+            const std::string& ns);
+
+    void remove_components_from_executor();
+
+    void remap_components_namespace(const std::string& ns);
+
+private:
+    std::weak_ptr<rclcpp::Executor> _executor;
+    std::vector<class_loader::ClassLoader* > _loaders;
+    std::map<std::string, rclcpp_components::NodeInstanceWrapper> _node_wrappers;
+    std::map<std::string, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr> _nodes;
+};
+
+} // namespace env_manager
+} // namespace component_manager
+
+#endif  // COMPONENT_MANAGER__COMPONENT_MANAGER_HPP_