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Use type support handle functions from the rmw implementation #15

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merged 2 commits into from
Mar 20, 2015
Merged

Use type support handle functions from the rmw implementation #15

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edbf774
Use type support handle functions from the rmw implementation
Mar 19, 2015
9f6ffc4
Removed unused include
Mar 20, 2015
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7 changes: 5 additions & 2 deletions rclcpp/include/rclcpp/node_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,9 @@
#include <string>

#include <rmw/rmw.h>
#include <rmw/get_type_support_handle.h>
#include <rmw/get_service_type_support_handle.h>
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This include seems to be not used?

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They are used in lines 69 (https://github.com/ros2/rclcpp/blob/disambiguate-linking/rclcpp/include/rclcpp/node_impl.hpp#L69) and 100 (https://github.com/ros2/rclcpp/blob/disambiguate-linking/rclcpp/include/rclcpp/node_impl.hpp#L100)

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The first one yes, The second - service one - not yet.


#include <rosidl_generator_cpp/MessageTypeSupport.h>
#include <rosidl_generator_cpp/ServiceTypeSupport.h>

Expand Down Expand Up @@ -63,7 +66,7 @@ template<typename MessageT>
publisher::Publisher::SharedPtr
Node::create_publisher(std::string topic_name, size_t queue_size)
{
using rosidl_generator_cpp::get_type_support_handle;
using rmw::get_type_support_handle;
auto type_support_handle = get_type_support_handle<MessageT>();
rmw_publisher_t * publisher_handle = rmw_create_publisher(
node_handle_, type_support_handle, topic_name.c_str(), queue_size);
Expand Down Expand Up @@ -94,7 +97,7 @@ Node::create_subscription(
std::function<void(const std::shared_ptr<MessageT> &)> callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{
using rosidl_generator_cpp::get_type_support_handle;
using rmw::get_type_support_handle;
auto type_support_handle = get_type_support_handle<MessageT>();
rmw_subscription_t * subscriber_handle = rmw_create_subscription(
node_handle_, type_support_handle, topic_name.c_str(), queue_size);
Expand Down