fix ServicesQoS error (ros-navigation#3449)

logivations · Mar 6, 2023 · d400998 · d400998
1 parent ff5308f
commit d400998
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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
 {