From 21c011aa0dc7981ba6e7a19cc9a7b86af42e05a8 Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dirk-thomas@users.noreply.github.com>
Date: Tue, 26 Feb 2019 13:17:11 -0800
Subject: [PATCH] change signature of publish_feedback

---
 .../include/rclcpp_action/server_goal_handle.hpp          | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp b/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
index 5bff74d14c..0534d933f5 100644
--- a/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
+++ b/rclcpp_action/include/rclcpp_action/server_goal_handle.hpp
@@ -145,10 +145,12 @@ class ServerGoalHandle : public ServerGoalHandleBase
    * \param[in] feedback_msg the message to publish to clients.
    */
   void
-  publish_feedback(std::shared_ptr<typename ActionT::Impl::FeedbackMessage> feedback_msg)
+  publish_feedback(std::shared_ptr<typename ActionT::Feedback> feedback_msg)
   {
-    feedback_msg->goal_id.uuid = uuid_;
-    publish_feedback_(feedback_msg);
+    auto feedback_message = std::make_shared<typename ActionT::Impl::FeedbackMessage>();
+    feedback_message->goal_id.uuid = uuid_;
+    feedback_message->feedback = *feedback_msg;
+    publish_feedback_(feedback_message);
   }
 
   // TODO(sloretz) which exception is raised?