Fix deprecated subscriber callbacks (#323)

These fixes target the following packages within examples:
* `examples_rclcpp_cbg_executor`
* `multithreaded_executor`
* `minimal_subscriber`
* `minimal_publisher`

Signed-off-by: Abrar Rahman Protyasha <abrar@openrobotics.org>

rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/ping_node.hpp

@@ -52,10 +52,10 @@ class PingNode : public rclcpp::Node
   void send_ping();
 
   rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr high_pong_subscription_;
-  void high_pong_received(const std_msgs::msg::Int32::SharedPtr msg);
+  void high_pong_received(const std_msgs::msg::Int32::ConstSharedPtr msg);
 
   rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr low_pong_subscription_;
-  void low_pong_received(const std_msgs::msg::Int32::SharedPtr msg);
+  void low_pong_received(const std_msgs::msg::Int32::ConstSharedPtr msg);
 
   std::vector<RTTData> rtt_data_;
 };

rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/pong_node.hpp

@@ -41,11 +41,11 @@ class PongNode : public rclcpp::Node
 
   rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr high_ping_subscription_;
   rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr high_pong_publisher_;
-  void high_ping_received(const std_msgs::msg::Int32::SharedPtr msg);
+  void high_ping_received(const std_msgs::msg::Int32::ConstSharedPtr msg);
 
   rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr low_ping_subscription_;
   rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr low_pong_publisher_;
-  void low_ping_received(const std_msgs::msg::Int32::SharedPtr msg);
+  void low_ping_received(const std_msgs::msg::Int32::ConstSharedPtr msg);
 
   static void burn_cpu_cycles(std::chrono::nanoseconds duration);
 };

rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/ping_node.cpp

@@ -51,12 +51,12 @@ void PingNode::send_ping()
   low_ping_publisher_->publish(msg);
 }
 
-void PingNode::high_pong_received(const std_msgs::msg::Int32::SharedPtr msg)
+void PingNode::high_pong_received(const std_msgs::msg::Int32::ConstSharedPtr msg)
 {
   rtt_data_[msg->data].high_received_ = now();
 }
 
-void PingNode::low_pong_received(const std_msgs::msg::Int32::SharedPtr msg)
+void PingNode::low_pong_received(const std_msgs::msg::Int32::ConstSharedPtr msg)
 {
   rtt_data_[msg->data].low_received_ = now();
 }

rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/pong_node.cpp

@@ -58,14 +58,14 @@ rclcpp::CallbackGroup::SharedPtr PongNode::get_low_prio_callback_group()
   return low_prio_callback_group_;  // the second callback group created in the ctor.
 }
 
-void PongNode::high_ping_received(const std_msgs::msg::Int32::SharedPtr msg)
+void PongNode::high_ping_received(const std_msgs::msg::Int32::ConstSharedPtr msg)
 {
   std::chrono::nanoseconds busyloop = get_nanos_from_secs_parameter(this, "high_busyloop");
   burn_cpu_cycles(busyloop);
   high_pong_publisher_->publish(*msg);
 }
 
-void PongNode::low_ping_received(const std_msgs::msg::Int32::SharedPtr msg)
+void PongNode::low_ping_received(const std_msgs::msg::Int32::ConstSharedPtr msg)
 {
   std::chrono::nanoseconds busyloop = get_nanos_from_secs_parameter(this, "low_busyloop");
   burn_cpu_cycles(busyloop);

rclcpp/executors/multithreaded_executor/multithreaded_executor.cpp

@@ -129,7 +129,7 @@ class DualThreadedNode : public rclcpp::Node
    * Every time the Publisher publishes something, all subscribers to the topic get poked
    * This function gets called when Subscriber1 is poked (due to the std::bind we used when defining it)
    */
-  void subscriber1_cb(const std_msgs::msg::String::SharedPtr msg)
+  void subscriber1_cb(const std_msgs::msg::String::ConstSharedPtr msg)
   {
     auto message_received_at = timing_string();
 
@@ -143,7 +143,7 @@ class DualThreadedNode : public rclcpp::Node
    * This function gets called when Subscriber2 is poked
    * Since it's running on a separate thread than Subscriber 1, it will run at (more-or-less) the same time!
    */
-  void subscriber2_cb(const std_msgs::msg::String::SharedPtr msg)
+  void subscriber2_cb(const std_msgs::msg::String::ConstSharedPtr msg)
   {
     auto message_received_at = timing_string();
 

rclcpp/topics/minimal_subscriber/member_function.cpp

@@ -31,7 +31,7 @@ class MinimalSubscriber : public rclcpp::Node
   }
 
 private:
-  void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
+  void topic_callback(const std_msgs::msg::String::ConstSharedPtr msg) const
   {
     RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
   }

rclcpp/topics/minimal_subscriber/member_function_with_topic_statistics.cpp

@@ -36,7 +36,7 @@ class MinimalSubscriberWithTopicStatistics : public rclcpp::Node
     // configure the topic name (default '/statistics')
     // options.topic_stats_options.publish_topic = "/topic_statistics"
 
-    auto callback = [this](std_msgs::msg::String::SharedPtr msg) {
+    auto callback = [this](std_msgs::msg::String::ConstSharedPtr msg) {
         this->topic_callback(msg);
       };
 
@@ -45,7 +45,7 @@ class MinimalSubscriberWithTopicStatistics : public rclcpp::Node
   }
 
 private:
-  void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
+  void topic_callback(const std_msgs::msg::String::ConstSharedPtr msg) const
   {
     RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
   }

rclcpp/topics/minimal_subscriber/member_function_with_unique_network_flow_endpoints.cpp

@@ -79,11 +79,11 @@ class MinimalSubscriberWithUniqueNetworkFlowEndpoints : public rclcpp::Node
   }
 
 private:
-  void topic_1_callback(const std_msgs::msg::String::SharedPtr msg) const
+  void topic_1_callback(const std_msgs::msg::String::ConstSharedPtr msg) const
   {
     RCLCPP_INFO(this->get_logger(), "Topic 1 news: '%s'", msg->data.c_str());
   }
-  void topic_2_callback(const std_msgs::msg::String::SharedPtr msg) const
+  void topic_2_callback(const std_msgs::msg::String::ConstSharedPtr msg) const
   {
     RCLCPP_INFO(this->get_logger(), "Topic 2 news: '%s'", msg->data.c_str());
   }

rclcpp/topics/minimal_subscriber/not_composable.cpp

@@ -22,7 +22,7 @@ rclcpp::Node::SharedPtr g_node = nullptr;
  * examples for the "new" recommended styles. This example is only included
  * for completeness because it is similar to "classic" standalone ROS nodes. */
 
-void topic_callback(const std_msgs::msg::String::SharedPtr msg)
+void topic_callback(const std_msgs::msg::String::ConstSharedPtr msg)
 {
   RCLCPP_INFO(g_node->get_logger(), "I heard: '%s'", msg->data.c_str());
 }