Create graph manager after checking passed CLI arguments and launch xrce-dds server (#41)

micro_ros_agent/src/agent/Agent.cpp

@@ -22,8 +22,19 @@ namespace agent {
 
 Agent::Agent()
     : xrce_dds_agent_instance_(xrce_dds_agent_instance_.getInstance())
-    , graph_manager_(std::make_unique<graph_manager::GraphManager>())
+    , graph_manager_(nullptr)
 {
+}
+
+bool Agent::create(
+        int argc,
+        char** argv)
+{
+    bool result = xrce_dds_agent_instance_.create(argc, argv);
+    if (result)
+    {
+        graph_manager_.reset(new graph_manager::GraphManager());
+
         /**
          * Add CREATE_PARTICIPANT callback.
          */
@@ -147,13 +158,9 @@ Agent::Agent()
             eprosima::uxr::Middleware::Kind::FASTDDS,
             eprosima::uxr::middleware::CallbackKind::DELETE_DATAREADER,
             std::move(on_delete_datareader));
-}
+    }
 
-bool Agent::create(
-        int argc,
-        char** argv)
-{
-    return xrce_dds_agent_instance_.create(argc, argv);
+    return result;
 }
 
 void Agent::run()