ros2_parsers/generic_subscription.hpp -> rclcpp/generic_subscription (#…

…23)
PlotJuggler · Jun 20, 2021 · fc0f399 · fc0f399
1 parent 96fe7bc
commit fc0f399
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Showing 3 changed files with 8 additions and 166 deletions.
diff --git a/plugins/DataStreamROS2/datastream_ros2.cpp b/plugins/DataStreamROS2/datastream_ros2.cpp
@@ -6,7 +6,7 @@
 #include <QMessageBox>
 #include <QApplication>
 #include <QProgressDialog>
-#include "ros2_parsers/generic_subscription.hpp"
+#include "rclcpp/generic_subscription.hpp"
 
 DataStreamROS2::DataStreamROS2() :
     DataStreamer(),
@@ -198,9 +198,11 @@ void DataStreamROS2::subscribeToTopic(const std::string& topic_name, const std::
   // double subscription, latching or not
   for (bool transient : { true, false })
   {
-    auto subscription = std::make_shared<rosbag2_transport::GenericSubscription>(_node->get_node_base_interface().get(),
-                                                                                 *_parser->typeSupport(topic_name),
-                                                                                 topic_name, transient, bound_callback);
+    auto subscription = _node->create_generic_subscription(topic_name,
+                                                           topic_type,
+                                                           transient,
+                                                           bound_callback);
+
     _subscriptions[topic_name + (transient ? "/transient_" : "")] = subscription;
     _node->get_node_topics_interface()->add_subscription(subscription, nullptr);
   }

diff --git a/plugins/DataStreamROS2/datastream_ros2.h b/plugins/DataStreamROS2/datastream_ros2.h
@@ -8,7 +8,7 @@
 
 #include "dialog_select_ros_topics.h"
 #include "ros2_parsers/ros2_parser.h"
-#include "ros2_parsers/generic_subscription.hpp"
+#include "rclcpp/generic_subscription.hpp"
 
 class DataStreamROS2 : public PJ::DataStreamer
 {
@@ -64,7 +64,7 @@ class DataStreamROS2 : public PJ::DataStreamer
 
   void loadDefaultSettings();
 
-  std::unordered_map<std::string, rosbag2_transport::GenericSubscription::Ptr> _subscriptions;
+  std::unordered_map<std::string, rclcpp::GenericSubscription::SharedPtr> _subscriptions;
 
   void subscribeToTopic(const std::string& topic_name, const std::string& topic_type);
   void waitOneSecond();

diff --git a/plugins/ros2_parsers/generic_subscription.hpp b/plugins/ros2_parsers/generic_subscription.hpp