fix ServicesQoS error (ros-navigation#3449)

EnjoyRobotics · Oct 24, 2023 · 23be4f2 · 23be4f2
1 parent e2bf56c
commit 23be4f2
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Showing 4 changed files with 5 additions and 5 deletions.
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -64,7 +64,7 @@ class BtServiceNode : public BT::ActionNodeBase
  getInput("service_name", service_name_);
  service_client_ = node_->create_client<ServiceT>(
  service_name_,
- rclcpp::ServicesQoS(),
+ rclcpp::ServicesQoS().get_rmw_qos_profile(),
  callback_group_);
 
  // Make a request for the service without parameter

diff --git a/nav2_lifecycle_manager/src/lifecycle_manager.cpp b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
@@ -62,13 +62,13 @@ LifecycleManager::LifecycleManager(const rclcpp::NodeOptions & options)
  manager_srv_ = create_service<ManageLifecycleNodes>(
  get_name() + std::string("/manage_nodes"),
  std::bind(&LifecycleManager::managerCallback, this, _1, _2, _3),
- rclcpp::ServicesQoS(),
+ rclcpp::ServicesQoS().get_rmw_qos_profile(),
  callback_group_);
 
  is_active_srv_ = create_service<std_srvs::srv::Trigger>(
  get_name() + std::string("/is_active"),
  std::bind(&LifecycleManager::isActiveCallback, this, _1, _2, _3),
- rclcpp::ServicesQoS(),
+ rclcpp::ServicesQoS().get_rmw_qos_profile(),
  callback_group_);
 
  transition_state_map_[Transition::TRANSITION_CONFIGURE] = State::PRIMARY_STATE_INACTIVE;

diff --git a/nav2_util/include/nav2_util/service_client.hpp b/nav2_util/include/nav2_util/service_client.hpp
@@ -46,7 +46,7 @@ class ServiceClient
  callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface());
  client_ = node_->create_client<ServiceT>(
  service_name,
- rclcpp::ServicesQoS(),
+ rclcpp::ServicesQoS().get_rmw_qos_profile(),
  callback_group_);
  }
 

diff --git a/nav2_waypoint_follower/plugins/photo_at_waypoint.cpp b/nav2_waypoint_follower/plugins/photo_at_waypoint.cpp
@@ -19,7 +19,7 @@
 
 #include "pluginlib/class_list_macros.hpp"
 
-#include "nav2_util/node_utils.hpp"
+#include "nav2_util/node_utils.h"
 
 namespace nav2_waypoint_follower
 {