use get_node()

Author: bmagyar

joint_state_controller/src/joint_state_controller.cpp

@@ -66,15 +66,12 @@ const
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 JointStateController::on_configure(const rclcpp_lifecycle::State & /*previous_state*/)
 {
-  if (!node_.get()) {
-    return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
-  }
   try {
-    joint_state_publisher_ = node_->create_publisher<sensor_msgs::msg::JointState>(
+    joint_state_publisher_ = get_node()->create_publisher<sensor_msgs::msg::JointState>(
       "joint_states", rclcpp::SystemDefaultsQoS());
 
     dynamic_joint_state_publisher_ =
-      node_->create_publisher<control_msgs::msg::DynamicJointState>(
+      get_node()->create_publisher<control_msgs::msg::DynamicJointState>(
       "dynamic_joint_states", rclcpp::SystemDefaultsQoS());
   } catch (...) {
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;