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Use new type support infrastructure

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This commit is contained in:
Esteve Fernandez 2015-03-26 10:40:25 -07:00
parent 3619cd880d
commit 7bd8f9cf76
1 changed files with 6 additions and 8 deletions
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14
rclcpp/include/rclcpp/node_impl.hpp
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@ -20,10 +20,8 @@
#include <string> #include <string>
#include <rmw/rmw.h> #include <rmw/rmw.h>
#include <rmw/get_type_support_handle.h> #include <rosidl_generator_cpp/message_type_support.hpp>
#include <rosidl_generator_cpp/service_type_support.hpp>
#include <rosidl_generator_cpp/MessageTypeSupport.h>
#include <rosidl_generator_cpp/ServiceTypeSupport.h>
#include <rclcpp/contexts/default_context.hpp> #include <rclcpp/contexts/default_context.hpp>
@ -65,8 +63,8 @@ template<typename MessageT>
publisher::Publisher::SharedPtr publisher::Publisher::SharedPtr
Node::create_publisher(std::string topic_name, size_t queue_size) Node::create_publisher(std::string topic_name, size_t queue_size)
{ {
using rmw::get_type_support_handle; using rosidl_generator_cpp::get_message_type_support_handle;
auto type_support_handle = get_type_support_handle<MessageT>(); auto type_support_handle = get_message_type_support_handle<MessageT>();
rmw_publisher_t * publisher_handle = rmw_create_publisher( rmw_publisher_t * publisher_handle = rmw_create_publisher(
node_handle_, type_support_handle, topic_name.c_str(), queue_size); node_handle_, type_support_handle, topic_name.c_str(), queue_size);
@ -96,8 +94,8 @@ Node::create_subscription(
std::function<void(const std::shared_ptr<MessageT> &)> callback, std::function<void(const std::shared_ptr<MessageT> &)> callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group) rclcpp::callback_group::CallbackGroup::SharedPtr group)
{ {
using rmw::get_type_support_handle; using rosidl_generator_cpp::get_message_type_support_handle;
auto type_support_handle = get_type_support_handle<MessageT>(); auto type_support_handle = get_message_type_support_handle<MessageT>();
rmw_subscription_t * subscriber_handle = rmw_create_subscription( rmw_subscription_t * subscriber_handle = rmw_create_subscription(
node_handle_, type_support_handle, topic_name.c_str(), queue_size); node_handle_, type_support_handle, topic_name.c_str(), queue_size);