Corrected publish calls with shared_ptr signature

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

test_communication/test/test_publisher.cpp

@@ -44,7 +44,7 @@ void publish(
     // publish all messages one by one, shorter sleep between each message
     while (rclcpp::ok() && message_index < messages.size()) {
       printf("publishing message #%zu\n", message_index + 1);
-      publisher->publish(messages[message_index]);
+      publisher->publish(*messages[message_index]);
       ++message_index;
       message_rate.sleep();
     }

test_communication/test/test_publisher_subscriber.cpp

@@ -43,7 +43,7 @@ void publish(
     // publish all messages one by one, shorter sleep between each message
     while (rclcpp::ok() && message_index < messages.size()) {
       printf("publishing message #%zu\n", message_index + 1);
-      publisher->publish(messages[message_index]);
+      publisher->publish(*messages[message_index]);
       ++message_index;
       message_rate.sleep();
     }

test_communication/test/test_publisher_subscriber_serialized.cpp

@@ -75,7 +75,7 @@ TEST_F(CLASSNAME(TestMessageSerialization, RMW_IMPLEMENTATION), serialized_callb
   rclcpp::Rate loop_rate(10);
   for (auto i = 0u; i < 10; ++i) {
     msg->uint8_value = i;
-    publisher->publish(msg);
+    publisher->publish(*msg);
     rclcpp::spin_some(node);
     loop_rate.sleep();
   }

test_communication/test/test_subscription_valid_data.cpp

@@ -54,7 +54,7 @@ int main(int argc, char ** argv)
       printf("publishing message #%u\n", index);
       auto msg = std::make_shared<test_communication::msg::UInt32>();
       msg->data = index;
-      publisher->publish(msg);
+      publisher->publish(*msg);
       ++index;
       message_rate.sleep();
       rclcpp::spin_some(node);

test_rclcpp/test/test_avoid_ros_namespace_conventions_qos.cpp

@@ -67,7 +67,7 @@ TEST(
     rclcpp::Publisher<test_rclcpp::msg::UInt32>::SharedPtr publisher,
     test_rclcpp::msg::UInt32::SharedPtr msg)
     {
-      publisher->publish(msg);
+      publisher->publish(*msg);
     };
   // call the test template
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(

test_rclcpp/test/test_intra_process.cpp

@@ -84,7 +84,7 @@ TEST(CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION), nominal_
     std::this_thread::sleep_for(std::chrono::milliseconds(1));
 
     msg->data = 1;
-    publisher->publish(msg);
+    publisher->publish(*msg);
     ASSERT_EQ(0, counter);
 
     // wait for the first callback
@@ -108,13 +108,13 @@ TEST(CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION), nominal_
     ASSERT_EQ(1, counter);
 
     msg->data = 2;
-    publisher->publish(msg);
+    publisher->publish(*msg);
     msg->data = 3;
-    publisher->publish(msg);
+    publisher->publish(*msg);
     msg->data = 4;
-    publisher->publish(msg);
+    publisher->publish(*msg);
     msg->data = 5;
-    publisher->publish(msg);
+    publisher->publish(*msg);
     ASSERT_EQ(1, counter);
 
     // while four messages have been published one callback should be triggered here
@@ -158,7 +158,7 @@ TEST(CLASSNAME(test_intra_process_within_one_node, RMW_IMPLEMENTATION), nominal_
   // the subscriber goes out of scope and should be not receive any callbacks anymore
 
   msg->data = 6;
-  publisher->publish(msg);
+  publisher->publish(*msg);
 
   std::this_thread::sleep_for(std::chrono::milliseconds(25));
 

test_rclcpp/test/test_multithreaded.cpp

@@ -89,7 +89,7 @@ static inline void multi_consumer_pub_sub_test(bool intra_process)
   EXPECT_EQ(0, counter.load());
 
   ++msg->data;
-  pub->publish(msg);
+  pub->publish(*msg);
 
   // test spin_some
   // Expectation: The message was published and all subscriptions fired the callback.
@@ -131,7 +131,7 @@ static inline void multi_consumer_pub_sub_test(bool intra_process)
         executor.cancel();
         return;
       }
-      pub->publish(msg);
+      pub->publish(*msg);
     };
   auto timer = node->create_wall_timer(std::chrono::milliseconds(1), publish_callback);
 
@@ -316,7 +316,7 @@ static inline void multi_access_publisher(bool intra_process)
       }
       msg->data = ++timer_counter;
       printf("Publishing message %u\n", timer_counter.load());
-      pub->publish(msg);
+      pub->publish(*msg);
     };
   std::vector<rclcpp::TimerBase::SharedPtr> timers;
   // timers will fire simultaneously in each thread

test_rclcpp/test/test_publisher.cpp

@@ -62,7 +62,7 @@ TEST(CLASSNAME(test_publisher, RMW_IMPLEMENTATION), publish_with_const_reference
     rclcpp::Publisher<test_rclcpp::msg::UInt32>::SharedPtr publisher,
     test_rclcpp::msg::UInt32::SharedPtr msg)
     {
-      publisher->publish(msg);
+      publisher->publish(*msg);
     };
   // call the test template
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(

test_rclcpp/test/test_repeated_publisher_subscriber.cpp

@@ -57,7 +57,7 @@ TEST(CLASSNAME(test_repeated_publisher_subscriber, RMW_IMPLEMENTATION), subscrip
     executor.spin_node_some(node);
 
     msg->data = 1;
-    publisher->publish(msg);
+    publisher->publish(*msg);
 
     std::this_thread::sleep_for(std::chrono::milliseconds(50));
     printf("spin_node_some()\n");
@@ -84,7 +84,7 @@ TEST(CLASSNAME(test_repeated_publisher_subscriber, RMW_IMPLEMENTATION), subscrip
     executor.spin_node_some(node);
 
     msg->data = 2;
-    publisher->publish(msg);
+    publisher->publish(*msg);
 
     std::this_thread::sleep_for(std::chrono::milliseconds(50));
     printf("spin_node_some()\n");

test_rclcpp/test/test_spin.cpp

@@ -213,7 +213,7 @@ TEST(CLASSNAME(test_spin, RMW_IMPLEMENTATION), cancel) {
     {
       executor.cancel();
       // Try to publish after canceling. The callback should never trigger.
-      pub->publish(msg);
+      pub->publish(*msg);
     };
   auto timer = node->create_wall_timer(std::chrono::milliseconds(5), cancel_callback);
   executor.add_node(node);

test_rclcpp/test/test_subscription.cpp

@@ -104,7 +104,7 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_and_spinning
     ASSERT_EQ(0, counter);
 
     msg->data = 1;
-    publisher->publish(msg);
+    publisher->publish(*msg);
     ASSERT_EQ(0, counter);
 
     // spin until the subscription is called or a timeout occurs
@@ -121,13 +121,13 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_and_spinning
     ASSERT_EQ(1, counter);
 
     msg->data = 2;
-    publisher->publish(msg);
+    publisher->publish(*msg);
     msg->data = 3;
-    publisher->publish(msg);
+    publisher->publish(*msg);
     msg->data = 4;
-    publisher->publish(msg);
+    publisher->publish(*msg);
     msg->data = 5;
-    publisher->publish(msg);
+    publisher->publish(*msg);
     ASSERT_EQ(1, counter);
 
     // while four messages have been published one callback should be triggered here
@@ -161,7 +161,7 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_and_spinning
   // the subscriber goes out of scope and should be not receive any callbacks anymore
 
   msg->data = 6;
-  publisher->publish(msg);
+  publisher->publish(*msg);
 
   // check that no further callbacks have been invoked
   printf("spin_until_future_complete(short timeout) - no callbacks expected\n");
@@ -202,7 +202,7 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_shared_ptr_c
     {
       // Create a ConstSharedPtr message to publish
       test_rclcpp::msg::UInt32::ConstSharedPtr const_msg(msg);
-      publisher->publish(const_msg);
+      publisher->publish(*const_msg);
     };
   // call the test template
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(
@@ -250,7 +250,7 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION),
     {
       // Create a ConstSharedPtr message to publish
       test_rclcpp::msg::UInt32::ConstSharedPtr const_msg(msg);
-      publisher->publish(const_msg);
+      publisher->publish(*const_msg);
     };
   // call the test template
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(
@@ -284,7 +284,7 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION),
     {
       // Create a ConstSharedPtr message to publish
       test_rclcpp::msg::UInt32::ConstSharedPtr const_msg(msg);
-      publisher->publish(const_msg);
+      publisher->publish(*const_msg);
     };
   // call the test template
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(
@@ -320,7 +320,7 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), subscription_shared_ptr_c
     rclcpp::Publisher<test_rclcpp::msg::UInt32>::SharedPtr publisher,
     test_rclcpp::msg::UInt32::SharedPtr msg)
     {
-      publisher->publish(msg);
+      publisher->publish(*msg);
     };
   // call the test template
   single_message_pub_sub_fixture<test_rclcpp::msg::UInt32>(
@@ -356,7 +356,7 @@ TEST(CLASSNAME(test_subscription, RMW_IMPLEMENTATION), spin_before_subscription)
     {
       // Create a ConstSharedPtr message to publish
       test_rclcpp::msg::UInt32::ConstSharedPtr const_msg(msg);
-      publisher->publish(const_msg);
+      publisher->publish(*const_msg);
     };
   // code for custom "pre subscription" hook
   auto pre_subscription_hook =

test_security/test/test_secure_publisher.cpp

@@ -45,7 +45,7 @@ int8_t attempt_publish(
     // publish all messages one by one, shorter sleep between each message
     while (rclcpp::ok() && message_index < messages.size()) {
       printf("publishing message #%zu\n", message_index + 1);
-      publisher->publish(messages[message_index]);
+      publisher->publish(*messages[message_index]);
       ++message_index;
       message_rate.sleep();
     }