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Use type support handle functions from the rmw implementation

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This commit is contained in:
Esteve Fernandez 2015-03-18 18:14:37 -07:00
parent 3dae09f243
commit edbf7745db
1 changed files with 5 additions and 2 deletions
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7
rclcpp/include/rclcpp/node_impl.hpp
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@ -20,6 +20,9 @@
#include <string>
#include <rmw/rmw.h>
#include <rmw/get_type_support_handle.h>
#include <rmw/get_service_type_support_handle.h>
#include <rosidl_generator_cpp/MessageTypeSupport.h>
#include <rosidl_generator_cpp/ServiceTypeSupport.h>
@ -63,7 +66,7 @@ template<typename MessageT>
publisher::Publisher::SharedPtr
Node::create_publisher(std::string topic_name, size_t queue_size)
{
using rosidl_generator_cpp::get_type_support_handle;
using rmw::get_type_support_handle;
auto type_support_handle = get_type_support_handle<MessageT>();
rmw_publisher_t * publisher_handle = rmw_create_publisher(
node_handle_, type_support_handle, topic_name.c_str(), queue_size);
@ -94,7 +97,7 @@ Node::create_subscription(
std::function<void(const std::shared_ptr<MessageT> &)> callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
using rosidl_generator_cpp::get_type_support_handle;
using rmw::get_type_support_handle;
auto type_support_handle = get_type_support_handle<MessageT>();
rmw_subscription_t * subscriber_handle = rmw_create_subscription(
node_handle_, type_support_handle, topic_name.c_str(), queue_size);