changes to avoid deprecated API's (#189)

Signed-off-by: William Woodall <william@osrfoundation.org>
ros2 · May 8, 2019 · 9184ce8 · 9184ce8
1 parent 626292c
commit 9184ce8
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Showing 4 changed files with 11 additions and 9 deletions.
diff --git a/include/ros1_bridge/factory.hpp b/include/ros1_bridge/factory.hpp
@@ -59,9 +59,7 @@ class Factory : public FactoryInterface
     const std::string & topic_name,
     size_t queue_size)
   {
-    rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;
-    custom_qos_profile.depth = queue_size;
-    return node->create_publisher<ROS2_T>(topic_name, custom_qos_profile);
+    return node->create_publisher<ROS2_T>(topic_name, rclcpp::QoS(rclcpp::KeepLast(queue_size)));
   }
 
   rclcpp::PublisherBase::SharedPtr
@@ -70,7 +68,9 @@ class Factory : public FactoryInterface
     const std::string & topic_name,
     const rmw_qos_profile_t & qos_profile)
   {
-    return node->create_publisher<ROS2_T>(topic_name, qos_profile);
+    auto qos = rclcpp::QoS(rclcpp::KeepAll());
+    qos.get_rmw_qos_profile() = qos_profile;
+    return node->create_publisher<ROS2_T>(topic_name, qos);
   }
 
   ros::Subscriber
@@ -121,8 +121,10 @@ class Factory : public FactoryInterface
     callback = std::bind(
       &Factory<ROS1_T, ROS2_T>::ros2_callback, std::placeholders::_1, std::placeholders::_2,
       ros1_pub, ros1_type_name_, ros2_type_name_, node->get_logger(), ros2_pub);
+    auto rclcpp_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos));
+    rclcpp_qos.get_rmw_qos_profile() = qos;
     return node->create_subscription<ROS2_T>(
-      topic_name, callback, qos, nullptr, true);
+      topic_name, rclcpp_qos, callback, nullptr, true);
   }
 
   void convert_1_to_2(const void * ros1_msg, void * ros2_msg) override

diff --git a/src/simple_bridge.cpp b/src/simple_bridge.cpp
@@ -82,15 +82,15 @@ int main(int argc, char * argv[])
   rclcpp::init(argc, argv);
   auto ros2_node = rclcpp::Node::make_shared("ros_bridge");
   ros2_pub = ros2_node->create_publisher<std_msgs::msg::String>(
-    "chatter", rmw_qos_profile_sensor_data);
+    "chatter", rclcpp::SensorDataQoS());
 
   // ROS 1 subscriber
   ros::Subscriber ros1_sub = ros1_node.subscribe(
     "chatter", 10, ros1ChatterCallback);
 
   // ROS 2 subscriber
   auto ros2_sub = ros2_node->create_subscription<std_msgs::msg::String>(
-    "chatter", ros2ChatterCallback, rmw_qos_profile_sensor_data, nullptr, true);
+    "chatter", rclcpp::SensorDataQoS(), ros2ChatterCallback, nullptr, true);
 
   // ROS 1 asynchronous spinner
   ros::AsyncSpinner async_spinner(1);

diff --git a/src/simple_bridge_1_to_2.cpp b/src/simple_bridge_1_to_2.cpp
@@ -49,7 +49,7 @@ int main(int argc, char * argv[])
   // ROS 2 node and publisher
   rclcpp::init(argc, argv);
   auto node = rclcpp::Node::make_shared("talker");
-  pub = node->create_publisher<std_msgs::msg::String>("chatter");
+  pub = node->create_publisher<std_msgs::msg::String>("chatter", 10);
 
   // ROS 1 node and subscriber
   ros::init(argc, argv, "listener");

diff --git a/src/simple_bridge_2_to_1.cpp b/src/simple_bridge_2_to_1.cpp
@@ -53,7 +53,7 @@ int main(int argc, char * argv[])
   rclcpp::init(argc, argv);
   auto node = rclcpp::Node::make_shared("listener");
   auto sub = node->create_subscription<std_msgs::msg::String>(
-    "chatter", chatterCallback, rmw_qos_profile_sensor_data);
+    "chatter", rclcpp::SensorDataQoS(), chatterCallback);
 
   rclcpp::spin(node);