From 911b2206bb53b9fe01c4ffed382a52159832018d Mon Sep 17 00:00:00 2001
From: NirAz <nir.azkiel@intel.com>
Date: Tue, 22 Nov 2022 17:26:43 +0200
Subject: [PATCH] fix deprecated API

---
 realsense2_camera/CMakeLists.txt              |  2 +-
 .../include/base_realsense_node.h             |  6 ++++++
 realsense2_camera/include/ros_param_backend.h | 10 ++++++++-
 .../src/ros_param_backend_dashing.cpp         |  2 +-
 .../src/ros_param_backend_foxy.cpp            |  2 +-
 .../src/ros_param_backend_rolling.cpp         | 21 +++++++++++++++++++
 6 files changed, 39 insertions(+), 4 deletions(-)
 create mode 100644 realsense2_camera/src/ros_param_backend_rolling.cpp

diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt
index 89c11ada74..84de9fd5dc 100644
--- a/realsense2_camera/CMakeLists.txt
+++ b/realsense2_camera/CMakeLists.txt
@@ -156,7 +156,7 @@ elseif("$ENV{ROS_DISTRO}" STREQUAL "humble")
 elseif("$ENV{ROS_DISTRO}" STREQUAL "rolling")
   message(STATUS "Build for ROS2 Rolling")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DROLLING")
-  set(SOURCES "${SOURCES}" src/ros_param_backend_foxy.cpp)
+  set(SOURCES "${SOURCES}" src/ros_param_backend_rolling.cpp)
 else()
   message(FATAL_ERROR "Unsupported ROS Distribution: " "$ENV{ROS_DISTRO}")
 endif()
diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h
index 934f81ef2f..4a88f9496e 100755
--- a/realsense2_camera/include/base_realsense_node.h
+++ b/realsense2_camera/include/base_realsense_node.h
@@ -6,7 +6,13 @@
 #include <librealsense2/rs.hpp>
 #include <librealsense2/rsutil.h>
 #include "constants.h"
+
+// cv_bridge.h last supported version is humble
+#if defined(ROLLING)
+#include <cv_bridge/cv_bridge.hpp>
+#else
 #include <cv_bridge/cv_bridge.h>
+#endif
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <diagnostic_updater/publisher.hpp>
diff --git a/realsense2_camera/include/ros_param_backend.h b/realsense2_camera/include/ros_param_backend.h
index 74b70b95e3..aba3423cb8 100644
--- a/realsense2_camera/include/ros_param_backend.h
+++ b/realsense2_camera/include/ros_param_backend.h
@@ -15,7 +15,15 @@ namespace realsense2_camera
                 _logger(node.get_logger())
                 {};
             ~ParametersBackend();
-            void add_on_set_parameters_callback(rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
+
+
+            #if defined( ROLLING ) 
+                using ros2_param_callback_type = rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType;
+            #else
+                using ros2_param_callback_type = rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
+            #endif
+
+            void add_on_set_parameters_callback(ros2_param_callback_type callback);
 
 
         private:
diff --git a/realsense2_camera/src/ros_param_backend_dashing.cpp b/realsense2_camera/src/ros_param_backend_dashing.cpp
index b76ff63e77..4afdb53b23 100644
--- a/realsense2_camera/src/ros_param_backend_dashing.cpp
+++ b/realsense2_camera/src/ros_param_backend_dashing.cpp
@@ -5,7 +5,7 @@
 
 namespace realsense2_camera
 {
-    void ParametersBackend::add_on_set_parameters_callback(rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback)
+    void ParametersBackend::add_on_set_parameters_callback(ros2_param_callback_type callback)
     {
         rclcpp::Node::OnParametersSetCallbackType prev_callback = _node.set_on_parameters_set_callback(callback);
         if (prev_callback)
diff --git a/realsense2_camera/src/ros_param_backend_foxy.cpp b/realsense2_camera/src/ros_param_backend_foxy.cpp
index a36766b5b8..daceb7e171 100644
--- a/realsense2_camera/src/ros_param_backend_foxy.cpp
+++ b/realsense2_camera/src/ros_param_backend_foxy.cpp
@@ -5,7 +5,7 @@
 
 namespace realsense2_camera
 {
-    void ParametersBackend::add_on_set_parameters_callback(rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback)
+    void ParametersBackend::add_on_set_parameters_callback(ros2_param_callback_type callback)
     {
         _ros_callback = _node.add_on_set_parameters_callback(callback);
     }
diff --git a/realsense2_camera/src/ros_param_backend_rolling.cpp b/realsense2_camera/src/ros_param_backend_rolling.cpp
new file mode 100644
index 0000000000..daceb7e171
--- /dev/null
+++ b/realsense2_camera/src/ros_param_backend_rolling.cpp
@@ -0,0 +1,21 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2022 Intel Corporation. All Rights Reserved.
+
+#include "ros_param_backend.h"
+
+namespace realsense2_camera
+{
+    void ParametersBackend::add_on_set_parameters_callback(ros2_param_callback_type callback)
+    {
+        _ros_callback = _node.add_on_set_parameters_callback(callback);
+    }
+
+    ParametersBackend::~ParametersBackend()
+    {
+        if (_ros_callback)
+        {
+            _node.remove_on_set_parameters_callback((rclcpp::node_interfaces::OnSetParametersCallbackHandle*)(_ros_callback.get()));
+            _ros_callback.reset();
+        }
+    }
+}