From 9daec001e2456d0517f06d193aa7b50f6b06a0fa Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve@osrfoundation.org>
Date: Fri, 6 Mar 2015 12:11:22 -0800
Subject: [PATCH] Added support for RTI Connext services. Update rmw_take*
 signatures

---
 rclcpp/include/rclcpp/executor.hpp  | 20 ++++++++++++--------
 rclcpp/include/rclcpp/node_impl.hpp | 22 ++++++++--------------
 2 files changed, 20 insertions(+), 22 deletions(-)

diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
index 0f2009c..3b229d9 100644
--- a/rclcpp/include/rclcpp/executor.hpp
+++ b/rclcpp/include/rclcpp/executor.hpp
@@ -151,8 +151,8 @@ protected:
     rclcpp::subscription::SubscriptionBase::SharedPtr &subscription)
   {
     std::shared_ptr<void> message = subscription->create_message();
-    auto taken = rmw_take(subscription->subscription_handle_, message.get());
-    // TODO(wjwwood): taken is no longer a boolean, check against return types.
+    bool taken = false;
+    rmw_take(subscription->subscription_handle_, message.get(), &taken);
     if (taken)
     {
       subscription->handle_message(message);
@@ -178,9 +178,11 @@ protected:
   {
     std::shared_ptr<void> request = service->create_request();
     std::shared_ptr<void> request_header = service->create_request_header();
-    bool taken = rmw_take_request(service->service_handle_,
-                                  request.get(),
-                                  request_header.get());
+    bool taken = false;
+    rmw_take_request(service->service_handle_,
+                     request.get(),
+                     request_header.get(),
+                     &taken);
     if (taken)
     {
       service->handle_request(request, request_header);
@@ -199,9 +201,11 @@ protected:
   {
     std::shared_ptr<void> response = client->create_response();
     std::shared_ptr<void> request_header = client->create_request_header();
-    bool taken = rmw_take_response(client->client_handle_,
-                                   response.get(),
-                                   request_header.get());
+    bool taken = false;
+    taken = rmw_take_response(client->client_handle_,
+                              response.get(),
+                              request_header.get(),
+                              &taken);
     if (taken)
     {
       client->handle_response(response, request_header);
diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index a3048e8..699fe37 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -65,10 +65,8 @@ Node::create_publisher(std::string topic_name, size_t queue_size)
 {
   using rosidl_generator_cpp::get_type_support_handle;
   auto type_support_handle = get_type_support_handle<MessageT>();
-  auto publisher_handle = rmw_create_publisher(node_handle_,
-                                               type_support_handle,
-                                               topic_name.c_str(),
-                                               queue_size);
+  rmw_publisher_t * publisher_handle = rmw_create_publisher(
+    node_handle_, type_support_handle, topic_name.c_str(), queue_size);
 
   return publisher::Publisher::make_shared(publisher_handle);
 }
@@ -98,10 +96,8 @@ Node::create_subscription(
 {
   using rosidl_generator_cpp::get_type_support_handle;
   auto type_support_handle = get_type_support_handle<MessageT>();
-  auto subscriber_handle = rmw_create_subscription(node_handle_,
-                                                   type_support_handle,
-                                                   topic_name.c_str(),
-                                                   queue_size);
+  rmw_subscription_t * subscriber_handle = rmw_create_subscription(
+    node_handle_, type_support_handle, topic_name.c_str(), queue_size);
 
   using namespace rclcpp::subscription;
 
@@ -171,9 +167,8 @@ Node::create_client(
   auto service_type_support_handle =
     get_service_type_support_handle<ServiceT>();
 
-  auto client_handle = rmw_create_client(this->node_handle_,
-                                         service_type_support_handle,
-                                         service_name.c_str());
+  rmw_client_t * client_handle = rmw_create_client(
+    this->node_handle_, service_type_support_handle, service_name.c_str());
 
   using namespace rclcpp::client;
 
@@ -211,9 +206,8 @@ Node::create_service(
   auto service_type_support_handle =
     get_service_type_support_handle<ServiceT>();
 
-  auto service_handle = rmw_create_service(this->node_handle_,
-                                           service_type_support_handle,
-                                           service_name.c_str());
+  rmw_service_t * service_handle = rmw_create_service(
+    this->node_handle_, service_type_support_handle, service_name.c_str());
 
   using namespace rclcpp::service;