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Update subscription callback signatures #754

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Merged
merged 2 commits into from
Nov 11, 2025
Merged

Update subscription callback signatures #754

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76a1389
Update subscription callback signatures
mini-1235 Nov 9, 2025
f8c391e
Update subscription callback signatures
mini-1235 Nov 10, 2025
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2 changes: 1 addition & 1 deletion demo_nodes_cpp/src/topics/listener_serialized_message.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ class SerializedMessageListener : public rclcpp::Node
// message to the callback. We can then further deserialize it and convert it into
// a ros2 compliant message.
auto callback =
[](const std::shared_ptr<rclcpp::SerializedMessage> msg) -> void
[](const std::shared_ptr<const rclcpp::SerializedMessage> msg) -> void
{
// Print the serialized data message in HEX representation
// This output corresponds to what you would see in e.g. Wireshark
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2 changes: 1 addition & 1 deletion pendulum_control/src/pendulum_logger.cpp
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Expand Up @@ -34,7 +34,7 @@ int main(int argc, char * argv[])
auto logger_node = rclcpp::Node::make_shared("pendulum_logger");

auto logging_callback =
[](const pendulum_msgs::msg::RttestResults::SharedPtr msg) {
[](const pendulum_msgs::msg::RttestResults::ConstSharedPtr msg) {
printf("Commanded motor angle: %f\n", msg->command.position);
printf("Actual motor angle: %f\n", msg->state.position);

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