From 5b9b8f0400e53a1c47cba2818ee494b01d939193 Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dthomas@osrfoundation.org>
Date: Fri, 18 Dec 2015 08:34:48 -0800
Subject: [PATCH 1/2] add missing const

---
 rmw_fastrtps_cpp/src/functions.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rmw_fastrtps_cpp/src/functions.cpp b/rmw_fastrtps_cpp/src/functions.cpp
index 9b09bb3a3..1307c6d75 100644
--- a/rmw_fastrtps_cpp/src/functions.cpp
+++ b/rmw_fastrtps_cpp/src/functions.cpp
@@ -1468,7 +1468,7 @@ extern "C"
             rmw_guard_conditions_t *guard_conditions,
             rmw_services_t *services,
             rmw_clients_t *clients,
-            rmw_time_t *wait_timeout)
+            const rmw_time_t *wait_timeout)
     {
         std::mutex conditionMutex;
         std::condition_variable conditionVariable;

From fa154e20b2d32fc3ced63205bbf93bba042cb2a6 Mon Sep 17 00:00:00 2001
From: Dirk Thomas <dthomas@osrfoundation.org>
Date: Fri, 18 Dec 2015 08:52:31 -0800
Subject: [PATCH 2/2] fix node handle creation

---
 rmw_fastrtps_cpp/src/functions.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/rmw_fastrtps_cpp/src/functions.cpp b/rmw_fastrtps_cpp/src/functions.cpp
index 1307c6d75..1d4e12616 100644
--- a/rmw_fastrtps_cpp/src/functions.cpp
+++ b/rmw_fastrtps_cpp/src/functions.cpp
@@ -1,3 +1,4 @@
+#include "rmw/allocators.h"
 #include <rmw/rmw.h>
 #include <rmw/error_handling.h>
 #include <rosidl_typesupport_introspection_cpp/identifier.hpp>
@@ -279,7 +280,11 @@ extern "C"
             return NULL;
         }
 
-        rmw_node_t *node_handle = new rmw_node_t;
+        rmw_node_t * node_handle = rmw_node_allocate();
+        if (!node_handle) {
+            RMW_SET_ERROR_MSG("failed to allocate rmw_node_t");
+            return NULL;
+        }
         node_handle->implementation_identifier = eprosima_fastrtps_identifier;
         node_handle->data = participant;