changes to avoid deprecated API's (#19)

Signed-off-by: William Woodall <william@osrfoundation.org>
ros2 · May 8, 2019 · fb08c69 · fb08c69
1 parent 6452835
commit fb08c69
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 7 deletions.
diff --git a/src/joint_state_listener.cpp b/src/joint_state_listener.cpp
@@ -87,7 +87,7 @@ JointStateListener::JointStateListener(
 
   // subscribe to joint state
   joint_state_sub_ = node_->create_subscription<sensor_msgs::msg::JointState>(
-    "joint_states", std::bind(
+    "joint_states", 10, std::bind(
       &JointStateListener::callbackJointState, this,
       std::placeholders::_1));
 

diff --git a/src/robot_state_publisher.cpp b/src/robot_state_publisher.cpp
@@ -81,15 +81,12 @@ RobotStatePublisher::RobotStatePublisher(
   // walk the tree and add segments to segments_
   addChildren(tree.getRootSegment());
 
-  // Creates a latched topic
-  rmw_qos_profile_t qos = rmw_qos_profile_default;
-  qos.depth = 1;
-  qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
-
   model_xml_.data = model_xml;
   node_handle->declare_parameter("robot_description", model_xml);
   description_pub_ = node_handle->create_publisher<std_msgs::msg::String>(
-    "robot_description", qos);
+    "robot_description",
+    // Transient local is similar to latching in ROS 1.
+    rclcpp::QoS(1).transient_local());
 }
 
 // add children to correct maps