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use rosidl_typesupport_c

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This commit is contained in:
Dirk Thomas 2016-12-12 14:59:18 -08:00
parent 0515e7aaf2
commit 9e309db793
2 changed files with 5 additions and 5 deletions
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8
rclcpp/test/test_externally_defined_services.cpp
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@ -83,8 +83,8 @@ TEST_F(TestExternallyDefinedServices, extern_defined_initialized) {
// mock for externally defined service // mock for externally defined service
rcl_service_t service_handle = rcl_get_zero_initialized_service(); rcl_service_t service_handle = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options(); rcl_service_options_t service_options = rcl_service_get_default_options();
const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT( const rosidl_service_type_support_t * ts =
rclcpp, srv, Mock); rosidl_typesupport_cpp::get_service_type_support_handle<rclcpp::srv::Mock>();
rcl_ret_t ret = rcl_service_init( rcl_ret_t ret = rcl_service_init(
&service_handle, &service_handle,
node_handle->get_node_base_interface()->get_rcl_node_handle(), node_handle->get_node_base_interface()->get_rcl_node_handle(),
@ -114,8 +114,8 @@ TEST_F(TestExternallyDefinedServices, extern_defined_destructor) {
// mock for externally defined service // mock for externally defined service
rcl_service_t service_handle = rcl_get_zero_initialized_service(); rcl_service_t service_handle = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options(); rcl_service_options_t service_options = rcl_service_get_default_options();
const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT( const rosidl_service_type_support_t * ts =
rclcpp, srv, Mock); rosidl_typesupport_cpp::get_service_type_support_handle<rclcpp::srv::Mock>();
rcl_ret_t ret = rcl_service_init( rcl_ret_t ret = rcl_service_init(
&service_handle, &service_handle,
node_handle->get_node_base_interface()->get_rcl_node_handle(), node_handle->get_node_base_interface()->get_rcl_node_handle(),

2
rclcpp_lifecycle/src/lifecycle_node_interface_impl.hpp
View file

@ -81,7 +81,7 @@ public:
// Services are handled in C++, so that it needs a C++ typesupport structure. // Services are handled in C++, so that it needs a C++ typesupport structure.
rcl_ret_t ret = rcl_lifecycle_state_machine_init( rcl_ret_t ret = rcl_lifecycle_state_machine_init(
&state_machine_, node_base_interface_->get_rcl_node_handle(), &state_machine_, node_base_interface_->get_rcl_node_handle(),
ROSIDL_GET_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent), ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent),
rosidl_typesupport_cpp::get_service_type_support_handle<ChangeStateSrv>(), rosidl_typesupport_cpp::get_service_type_support_handle<ChangeStateSrv>(),
rosidl_typesupport_cpp::get_service_type_support_handle<GetStateSrv>(), rosidl_typesupport_cpp::get_service_type_support_handle<GetStateSrv>(),
rosidl_typesupport_cpp::get_service_type_support_handle<GetAvailableStatesSrv>(), rosidl_typesupport_cpp::get_service_type_support_handle<GetAvailableStatesSrv>(),