Address review comments

Signed-off-by: Barry Xu <barry.xu@sony.com>
ros2 · Jan 13, 2022 · d9ea59d · d9ea59d
1 parent 836dc49
commit d9ea59d
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/rclcpp/topics/minimal_publisher/CMakeLists.txt b/rclcpp/topics/minimal_publisher/CMakeLists.txt
@@ -26,8 +26,8 @@ ament_target_dependencies(publisher_member_function_with_type_adapter rclcpp std
 add_executable(publisher_member_function_with_unique_network_flow_endpoints member_function_with_unique_network_flow_endpoints.cpp)
 ament_target_dependencies(publisher_member_function_with_unique_network_flow_endpoints rclcpp std_msgs)
 
-add_executable(publisher_member_function_with_wait_for_all_acked member_function_with_wait_for_all_acked.cpp)
-ament_target_dependencies(publisher_member_function_with_wait_for_all_acked rclcpp std_msgs)
+add_executable(publisher_wait_for_all_acked member_function_with_wait_for_all_acked.cpp)
+ament_target_dependencies(publisher_wait_for_all_acked rclcpp std_msgs)
 
 add_executable(publisher_not_composable not_composable.cpp)
 ament_target_dependencies(publisher_not_composable rclcpp std_msgs)
@@ -37,7 +37,7 @@ install(TARGETS
   publisher_member_function
   publisher_member_function_with_type_adapter
   publisher_member_function_with_unique_network_flow_endpoints
-  publisher_member_function_with_wait_for_all_acked
+  publisher_wait_for_all_acked
   publisher_not_composable
   DESTINATION lib/${PROJECT_NAME}
 )

diff --git a/rclcpp/topics/minimal_publisher/member_function_with_wait_for_all_acked.cpp b/rclcpp/topics/minimal_publisher/member_function_with_wait_for_all_acked.cpp
@@ -11,10 +11,9 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#include <inttypes.h>
-
 #include <chrono>
 #include <functional>
+#include <cinttypes>
 #include <memory>
 #include <string>
 
@@ -42,6 +41,7 @@ class MinimalPublisher : public rclcpp::Node
     using rclcpp::contexts::get_global_default_context;
     get_global_default_context()->add_pre_shutdown_callback(
       [this]() {
+        this->timer_->cancel();
         this->wait_for_all_acked();
       });