fixes to get services compiling

ros2 · Mar 5, 2015 · 25c8c56 · 25c8c56
1 parent 209a31c
commit 25c8c56
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Showing 2 changed files with 8 additions and 6 deletions.
diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
@@ -130,8 +130,9 @@ class Client : public ClientBase
     typename ServiceT::Request::Ptr &request,
     CallbackType cb)
   {
-    int64_t sequence_number =
-      rmw_send_request(get_client_handle(), request.get());
+    int64_t sequence_number;
+    // TODO(wjwwood): Check the return code.
+    rmw_send_request(get_client_handle(), request.get(), &sequence_number);
 
     SharedPromise call_promise = std::make_shared<Promise>();
     SharedFuture f(call_promise->get_future());

diff --git a/rclcpp/include/rclcpp/executor.hpp b/rclcpp/include/rclcpp/executor.hpp
@@ -362,6 +362,7 @@ class Executor
     // Now wait on the waitable subscriptions and timers
     rmw_wait(&subscriber_handles,
              &guard_condition_handles,
+             &service_handles,
              &client_handles,
              nonblocking);
     // If ctrl-c guard condition, return directly
@@ -397,7 +398,7 @@ class Executor
     // Then the services
     for (size_t i = 0; i < number_of_services; ++i)
     {
-      void *handle = service_handles.services_[i];
+      void *handle = service_handles.services[i];
       if (handle)
       {
         service_handles_.push_back(handle);
@@ -406,7 +407,7 @@ class Executor
     // Then the clients
     for (size_t i = 0; i < number_of_clients; ++i)
     {
-      void *handle = client_handles.clients_[i];
+      void *handle = client_handles.clients[i];
       if (handle)
       {
         client_handles_.push_back(handle);
@@ -500,7 +501,7 @@ class Executor
         }
         for (auto service : group->service_ptrs_)
         {
-          if (service->service_handle_.data_ == service_handle)
+          if (service->service_handle_->data == service_handle)
           {
             return service;
           }
@@ -529,7 +530,7 @@ class Executor
         }
         for (auto client : group->client_ptrs_)
         {
-          if (client->client_handle_.data_ == client_handle)
+          if (client->client_handle_->data == client_handle)
           {
             return client;
           }