shared pointer added.

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

Author: HansOersted

control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_lateral_controller.hpp

@@ -54,7 +54,7 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase
 {
 public:
   /// \param node Reference to the node used only for the component and parameter initialization.
-  explicit MpcLateralController(rclcpp::Node & node);
+  explicit MpcLateralController(rclcpp::Node & node, std::shared_ptr<diagnostic_updater::Updater> diag_updater_);
   virtual ~MpcLateralController();
 
 private:
@@ -95,8 +95,6 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase
   // trajectory buffer for detecting new trajectory
   std::deque<Trajectory> m_trajectory_buffer;
 
-  diagnostic_updater::Updater diag_updater_{this}; // Diagnostic updater for publishing diagnostic data.
-
   void setStatus(diagnostic_updater::DiagnosticStatusWrapper & stat, const bool & m_is_mpc_solved);
 
   void setupDiag();

control/mpc_lateral_controller/src/mpc_lateral_controller.cpp

@@ -35,7 +35,7 @@
 namespace autoware::motion::control::mpc_lateral_controller
 {
 
-MpcLateralController::MpcLateralController(rclcpp::Node & node)
+MpcLateralController::MpcLateralController(rclcpp::Node & node, std::shared_ptr<diagnostic_updater::Updater> diag_updater_)
 : clock_(node.get_clock()), logger_(node.get_logger().get_child("lateral_controller"))
 {
   const auto dp_int = [&](const std::string & s) { return node.declare_parameter<int>(s); };

control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp

@@ -73,6 +73,8 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node
   double timeout_thr_sec_;
   boost::optional<LongitudinalOutput> longitudinal_output_{boost::none};
 
+  std::shared_ptr<diagnostic_updater::Updater> diag_updater_{this}; // Diagnostic updater for publishing diagnostic data.
+
   std::shared_ptr<trajectory_follower::LongitudinalControllerBase> longitudinal_controller_;
   std::shared_ptr<trajectory_follower::LateralControllerBase> lateral_controller_;