PublisherBase and SubscriptionBase API change

APIs we're using changed in ros2/rclcpp#2066 which is released in RCLCPP 18.0.0 in ROS ROlling. This PR uses the updated API.
sloretz · Feb 1, 2023 · 8e9d2f8 · 8e9d2f8
1 parent 7c14298
commit 8e9d2f8
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Showing 4 changed files with 49 additions and 10 deletions.
diff --git a/drake_ros_core/src/publisher.cc b/drake_ros_core/src/publisher.cc
@@ -16,6 +16,8 @@
 
 #include <string>
 
+#include <rclcpp/version.h>
+
 namespace drake_ros_core {
 namespace internal {
 namespace {
@@ -29,11 +31,20 @@ rcl_publisher_options_t publisher_options(const rclcpp::QoS& qos) {
 
 Publisher::Publisher(rclcpp::node_interfaces::NodeBaseInterface* node_base,
                      const rosidl_message_type_support_t& type_support,
-                     const std::string& topic_name, const rclcpp::QoS& qos)
+                     const std::string& topic_name, const rclcpp::QoS& qos,
+                     const rclcpp::PublisherOptionsBase& options)
+#if RCLCPP_VERSION_GTE(18, 0, 0)
+    : rclcpp::PublisherBase(node_base, topic_name, type_support,
+                            publisher_options(qos), options.event_callbacks,
+                            options.use_default_callbacks){}
+#else
     : rclcpp::PublisherBase(node_base, topic_name, type_support,
-                            publisher_options(qos)) {}
+                            publisher_options(qos)) {
+}
+#endif
 
-Publisher::~Publisher() {}
+      Publisher::~Publisher() {
+}
 
 void Publisher::publish(const rclcpp::SerializedMessage& serialized_msg) {
   // TODO(sloretz) Copied from rosbag2_transport GenericPublisher, can it be

diff --git a/drake_ros_core/src/publisher.h b/drake_ros_core/src/publisher.h
@@ -17,6 +17,7 @@
 #include <string>
 
 #include <rclcpp/publisher_base.hpp>
+#include <rclcpp/publisher_options.hpp>
 #include <rclcpp/qos.hpp>
 #include <rclcpp/serialized_message.hpp>
 #include <rosidl_runtime_c/message_type_support_struct.h>
@@ -29,7 +30,13 @@ class Publisher final : public rclcpp::PublisherBase {
  public:
   Publisher(rclcpp::node_interfaces::NodeBaseInterface* node_base,
             const rosidl_message_type_support_t& ts,
-            const std::string& topic_name, const rclcpp::QoS& qos);
+            const std::string& topic_name, const rclcpp::QoS& qos)
+      : Publisher(node_base, ts, topic_name, qos, {}) {}
+
+  Publisher(rclcpp::node_interfaces::NodeBaseInterface* node_base,
+            const rosidl_message_type_support_t& ts,
+            const std::string& topic_name, const rclcpp::QoS& qos,
+            const rclcpp::PublisherOptionsBase& options);
 
   ~Publisher();
 

diff --git a/drake_ros_core/src/subscription.cc b/drake_ros_core/src/subscription.cc
@@ -17,6 +17,8 @@
 #include <memory>
 #include <string>
 
+#include <rclcpp/version.h>
+
 namespace drake_ros_core {
 namespace internal {
 namespace {
@@ -32,12 +34,22 @@ Subscription::Subscription(
     rclcpp::node_interfaces::NodeBaseInterface* node_base,
     const rosidl_message_type_support_t& ts, const std::string& topic_name,
     const rclcpp::QoS& qos,
-    std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback)
+    std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
+    const rclcpp::SubscriptionOptionsBase& options)
+#if RCLCPP_VERSION_GTE(18, 0, 0)
+    : rclcpp::SubscriptionBase(
+          node_base, ts, topic_name, subscription_options(qos),
+          options.event_callbacks, options.use_default_callbacks, true),
+      callback_(callback){}
+#else
     : rclcpp::SubscriptionBase(node_base, ts, topic_name,
                                subscription_options(qos), true),
-      callback_(callback) {}
+      callback_(callback) {
+}
+#endif
 
-Subscription::~Subscription() {}
+      Subscription::~Subscription() {
+}
 
 std::shared_ptr<void> Subscription::create_message() {
   // Subscriber only does serialized messages

diff --git a/drake_ros_core/src/subscription.h b/drake_ros_core/src/subscription.h
@@ -16,8 +16,9 @@
 #include <memory>
 #include <string>
 
-#include "rclcpp/qos.hpp"
-#include "rclcpp/subscription_base.hpp"
+#include <rclcpp/qos.hpp>
+#include <rclcpp/subscription_base.hpp>
+#include <rclcpp/subscription_options.hpp>
 #include <rmw/serialized_message.h>
 #include <rosidl_runtime_c/message_type_support_struct.h>
 
@@ -31,7 +32,15 @@ class Subscription final : public rclcpp::SubscriptionBase {
       rclcpp::node_interfaces::NodeBaseInterface* node_base,
       const rosidl_message_type_support_t& ts, const std::string& topic_name,
       const rclcpp::QoS& qos,
-      std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback);
+      std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback)
+      : Subscription(node_base, ts, topic_name, qos, callback, {}) {}
+
+  Subscription(
+      rclcpp::node_interfaces::NodeBaseInterface* node_base,
+      const rosidl_message_type_support_t& ts, const std::string& topic_name,
+      const rclcpp::QoS& qos,
+      std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
+      const rclcpp::SubscriptionOptionsBase& options);
 
   ~Subscription();