Update for rclcpp namespace removals > > connects to ros2/rclcpp#416

tf2_ros/include/tf2_ros/static_transform_broadcaster.h

@@ -52,7 +52,7 @@ class StaticTransformBroadcaster{
 public:
 
   TF2_ROS_PUBLIC
-  StaticTransformBroadcaster(rclcpp::node::Node::SharedPtr node);
+  StaticTransformBroadcaster(rclcpp::Node::SharedPtr node);
 
   /** \brief Send a TransformStamped message
    * The stamped data structure includes frame_id, and time, and parent_id already.  */
@@ -66,8 +66,8 @@ class StaticTransformBroadcaster{
 
 private:
   /// Internal reference to ros::Node
-  rclcpp::node::Node::SharedPtr node_;
-  rclcpp::publisher::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr publisher_;
+  rclcpp::Node::SharedPtr node_;
+  rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr publisher_;
   tf2_msgs::msg::TFMessage net_message_;
 
 };

tf2_ros/include/tf2_ros/transform_broadcaster.h

@@ -49,7 +49,7 @@ class TransformBroadcaster{
 public:
   /** \brief Constructor (needs a ros::Node reference) */
   TF2_ROS_PUBLIC
-  TransformBroadcaster(rclcpp::node::Node::SharedPtr node);
+  TransformBroadcaster(rclcpp::Node::SharedPtr node);
 
   /** \brief Send a StampedTransform 
    * The stamped data structure includes frame_id, and time, and parent_id already.  */
@@ -71,8 +71,8 @@ class TransformBroadcaster{
 
 private:
   /// Internal reference to ros::Node
-  rclcpp::node::Node::SharedPtr node_;
-  rclcpp::publisher::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr publisher_;
+  rclcpp::Node::SharedPtr node_;
+  rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr publisher_;
 
 };
 

tf2_ros/include/tf2_ros/transform_listener.h

@@ -52,7 +52,7 @@ class TransformListener
   TransformListener(tf2::BufferCore& buffer, bool spin_thread = true);
 
   TF2_ROS_PUBLIC
-  TransformListener(tf2::BufferCore& buffer, rclcpp::node::Node::SharedPtr nh, bool spin_thread = true);
+  TransformListener(tf2::BufferCore& buffer, rclcpp::Node::SharedPtr nh, bool spin_thread = true);
 
   TF2_ROS_PUBLIC
   ~TransformListener();
@@ -70,9 +70,9 @@ class TransformListener
 
   // ros::CallbackQueue tf_message_callback_queue_;
   std::thread* dedicated_listener_thread_;
-  rclcpp::node::Node::SharedPtr node_;
-  rclcpp::subscription::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr message_subscription_tf_;
-  rclcpp::subscription::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr message_subscription_tf_static_;
+  rclcpp::Node::SharedPtr node_;
+  rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr message_subscription_tf_;
+  rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr message_subscription_tf_static_;
   tf2::BufferCore& buffer_;
   bool using_dedicated_thread_;
   tf2::TimePoint last_update_;

tf2_ros/src/buffer.cpp

@@ -48,7 +48,7 @@ Buffer::Buffer(tf2::Duration cache_time, bool debug) :
   BufferCore(cache_time)
 {
   // TODO(tfoote) reenable 
-  // if(debug && !ros::service::exists("~tf2_frames", false))
+  // if(debug && !ros::exists("~tf2_frames", false))
   // {
   //   ros::NodeHandle n("~");
   //   frames_server_ = n.advertiseService("tf2_frames", &Buffer::getFrames, this);

tf2_ros/src/static_transform_broadcaster.cpp

@@ -37,7 +37,7 @@
 
 namespace tf2_ros {
 
-StaticTransformBroadcaster::StaticTransformBroadcaster(rclcpp::node::Node::SharedPtr node):
+StaticTransformBroadcaster::StaticTransformBroadcaster(rclcpp::Node::SharedPtr node):
   node_(node)
 {
   rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;

tf2_ros/src/static_transform_broadcaster_program.cpp

@@ -64,7 +64,7 @@ int main(int argc, char ** argv)
   rclcpp::init(argc, argv);
 
   // TODO(clalancette): Anonymize the node name like it is in ROS1.
-  auto node = rclcpp::node::Node::make_shared("static_transform_publisher");
+  auto node = rclcpp::Node::make_shared("static_transform_publisher");
 
   rclcpp::TimeSource ts(node);
   rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);

tf2_ros/src/tf2_echo.cpp

@@ -76,7 +76,7 @@ int main(int argc, char ** argv)
   //TODO(tfoote) restore anonymous??
   // ros::init_options::AnonymousName);
 
-  rclcpp::node::Node::SharedPtr nh = rclcpp::node::Node::make_shared("tf2_echo");
+  rclcpp::Node::SharedPtr nh = rclcpp::Node::make_shared("tf2_echo");
 
   double rate_hz;
   if (argc == 4)
@@ -92,7 +92,7 @@ int main(int argc, char ** argv)
     // ros::NodeHandle p_nh("~");
     // p_nh.param("rate", rate_hz, 1.0);
   }
-  rclcpp::rate::Rate rate(rate_hz);
+  rclcpp::Rate rate(rate_hz);
 
   //Instantiate a local listener
   echoListener echoListener;

tf2_ros/src/tf2_monitor.cpp

@@ -51,8 +51,8 @@ class TFMonitor
   std::string framea_, frameb_;
   bool using_specific_chain_;
 
-  rclcpp::node::Node::SharedPtr node_;
-  rclcpp::subscription::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr subscriber_tf_, subscriber_tf_message_;
+  rclcpp::Node::SharedPtr node_;
+  rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr subscriber_tf_, subscriber_tf_message_;
   std::vector<std::string> chain_;
   std::map<std::string, std::string> frame_authority_map;
   std::map<std::string, std::vector<double> > delay_map;
@@ -125,7 +125,7 @@ class TFMonitor
   };
 
   TFMonitor(
-    rclcpp::node::Node::SharedPtr node, bool using_specific_chain,
+    rclcpp::Node::SharedPtr node, bool using_specific_chain,
     std::string framea  = "", std::string frameb = "")
       : node_(node),
         framea_(framea),
@@ -274,7 +274,7 @@ int main(int argc, char ** argv)
   rclcpp::init(argc, argv);
 
   //TODO(tfoote) make anonymous 
-  rclcpp::node::Node::SharedPtr nh = rclcpp::node::Node::make_shared("tf2_monitor_main");
+  rclcpp::Node::SharedPtr nh = rclcpp::Node::make_shared("tf2_monitor_main");
 
 
   std::string framea, frameb;
@@ -307,7 +307,7 @@ int main(int argc, char ** argv)
   // rclcpp::spin, since there are more than one versions of it (overloaded).
   // see: http://stackoverflow.com/a/27389714/671658
   // I (wjwwood) chose to use the lamda rather than the static cast solution.
-  auto run_func = [](rclcpp::node::Node::SharedPtr node) {
+  auto run_func = [](rclcpp::Node::SharedPtr node) {
     return rclcpp::spin(node);
   };
   TFMonitor monitor(nh, using_specific_chain, framea, frameb);

tf2_ros/src/transform_broadcaster.cpp

@@ -37,7 +37,7 @@
 
 namespace tf2_ros {
 
-TransformBroadcaster::TransformBroadcaster(rclcpp::node::Node::SharedPtr node) :
+TransformBroadcaster::TransformBroadcaster(rclcpp::Node::SharedPtr node) :
   node_(node)
 {
   rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;

tf2_ros/src/transform_listener.cpp

@@ -44,13 +44,13 @@ TransformListener::TransformListener(tf2::BufferCore& buffer, bool spin_thread):
   dedicated_listener_thread_(NULL), buffer_(buffer), using_dedicated_thread_(false)
 {
   //TODO(tfoote)make this anonymous
-  node_ = rclcpp::node::Node::make_shared("transform_listener_impl");
+  node_ = rclcpp::Node::make_shared("transform_listener_impl");
   init();
   if (spin_thread)
     initThread();
 }
 
-TransformListener::TransformListener(tf2::BufferCore& buffer, rclcpp::node::Node::SharedPtr nh, bool spin_thread)
+TransformListener::TransformListener(tf2::BufferCore& buffer, rclcpp::Node::SharedPtr nh, bool spin_thread)
 : dedicated_listener_thread_(NULL)
 , node_(nh)
 , buffer_(buffer)
@@ -93,7 +93,7 @@ void TransformListener::initThread()
   // rclcpp::spin, since there are more than one versions of it (overloaded).
   // see: http://stackoverflow.com/a/27389714/671658
   // I (wjwwood) chose to use the lamda rather than the static cast solution.
-  auto run_func = [](rclcpp::node::Node::SharedPtr node) {
+  auto run_func = [](rclcpp::Node::SharedPtr node) {
     return rclcpp::spin(node);
   };
   dedicated_listener_thread_ = new std::thread(run_func, node_);