From 25dcf264f0a4ff68487a6c47dc8e075b44132d4a Mon Sep 17 00:00:00 2001 From: Abrar Rahman Protyasha Date: Thu, 19 Aug 2021 21:17:49 -0400 Subject: [PATCH 1/2] `tf2_monitor`: Fix deprecated sub callbacks Signed-off-by: Abrar Rahman Protyasha --- tf2_ros/src/tf2_monitor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tf2_ros/src/tf2_monitor.cpp b/tf2_ros/src/tf2_monitor.cpp index 585ea8693..03f7d3105 100644 --- a/tf2_ros/src/tf2_monitor.cpp +++ b/tf2_ros/src/tf2_monitor.cpp @@ -65,7 +65,7 @@ class TFMonitor tf2_msgs::msg::TFMessage message_; std::mutex map_mutex_; - void callback(const tf2_msgs::msg::TFMessage::SharedPtr msg) + void callback(const tf2_msgs::msg::TFMessage::ConstSharedPtr msg) { const tf2_msgs::msg::TFMessage & message = *(msg); // TODO(tfoote): recover authority info From 9650e07b23820ae63bba76c7a0eec754c4e24dfe Mon Sep 17 00:00:00 2001 From: Abrar Rahman Protyasha Date: Thu, 19 Aug 2021 21:18:14 -0400 Subject: [PATCH 2/2] `transform_listener`: Fix deprecated sub callbacks Signed-off-by: Abrar Rahman Protyasha --- tf2_ros/include/tf2_ros/transform_listener.h | 4 ++-- tf2_ros/src/transform_listener.cpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/tf2_ros/include/tf2_ros/transform_listener.h b/tf2_ros/include/tf2_ros/transform_listener.h index fc3cfb0f5..f72d007fd 100644 --- a/tf2_ros/include/tf2_ros/transform_listener.h +++ b/tf2_ros/include/tf2_ros/transform_listener.h @@ -119,7 +119,7 @@ class TransformListener { node_logging_interface_ = node->get_node_logging_interface(); - using callback_t = std::function; + using callback_t = std::function; callback_t cb = std::bind( &TransformListener::subscription_callback, this, std::placeholders::_1, false); callback_t static_cb = std::bind( @@ -149,7 +149,7 @@ class TransformListener /// Callback function for ros message subscriptoin TF2_ROS_PUBLIC - void subscription_callback(tf2_msgs::msg::TFMessage::SharedPtr msg, bool is_static); + void subscription_callback(tf2_msgs::msg::TFMessage::ConstSharedPtr msg, bool is_static); // ros::CallbackQueue tf_message_callback_queue_; using thread_ptr = diff --git a/tf2_ros/src/transform_listener.cpp b/tf2_ros/src/transform_listener.cpp index 844bf3453..29d710f1a 100644 --- a/tf2_ros/src/transform_listener.cpp +++ b/tf2_ros/src/transform_listener.cpp @@ -91,7 +91,7 @@ void TransformListener::initThread( } void TransformListener::subscription_callback( - const tf2_msgs::msg::TFMessage::SharedPtr msg, + const tf2_msgs::msg::TFMessage::ConstSharedPtr msg, bool is_static) { const tf2_msgs::msg::TFMessage & msg_in = *msg;