From 4138e6be1d73311d2b0d056c841d67dfeca8404a Mon Sep 17 00:00:00 2001
From: Jackie Kay <jackie@osrfoundation.org>
Date: Fri, 23 Oct 2015 11:41:45 -0700
Subject: [PATCH] Use allocate_shared

---
 rclcpp/include/rclcpp/message_memory_strategy.hpp           | 5 +----
 .../include/rclcpp/strategies/allocator_memory_strategy.hpp | 6 +-----
 2 files changed, 2 insertions(+), 9 deletions(-)

diff --git a/rclcpp/include/rclcpp/message_memory_strategy.hpp b/rclcpp/include/rclcpp/message_memory_strategy.hpp
index e88c077..9860303 100644
--- a/rclcpp/include/rclcpp/message_memory_strategy.hpp
+++ b/rclcpp/include/rclcpp/message_memory_strategy.hpp
@@ -58,10 +58,7 @@ public:
   // \return Shared pointer to the new message.
   virtual std::shared_ptr<MessageT> borrow_message()
   {
-    auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocTraits::construct(*message_allocator_.get(), ptr);
-    return std::shared_ptr<MessageT>(ptr, message_deleter_);
-    //return std::allocate_shared<MessageT, typename MessageAlloc::allocator_type>(*message_allocator_);
+    return std::allocate_shared<MessageT, MessageAlloc>(*message_allocator_.get());
   }
 
   /// Release ownership of the message, which will deallocate it if it has no more owners.
diff --git a/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp b/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
index 90c6dee..a6ebfc3 100644
--- a/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
+++ b/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
@@ -137,10 +137,7 @@ public:
   // \return Shared pointer to the fresh executable.
   virtual executor::AnyExecutable::SharedPtr instantiate_next_executable()
   {
-    //return std::make_shared<executor::AnyExecutable>();
-    auto ptr = ExecAllocTraits::allocate(*executable_allocator_.get(), 1);
-    ExecAllocTraits::construct(*executable_allocator_.get(), ptr);
-    return std::shared_ptr<executor::AnyExecutable>(ptr, executable_deleter_);
+    return std::allocate_shared<executor::AnyExecutable>(*executable_allocator_.get());
   }
 
   /// Implementation of a general-purpose allocation function.
@@ -190,7 +187,6 @@ public:
 
 private:
   std::shared_ptr<ExecAlloc> executable_allocator_;
-  ExecDeleter executable_deleter_;
   std::shared_ptr<VoidAlloc> allocator_;
 };