use shared ptr in layer

Author: bpwilcox

nav2_costmap_2d/include/nav2_costmap_2d/layer.hpp

@@ -66,7 +66,7 @@ class Layer  // TODO(mjeronimo): public nav2_util::LifecycleHelperInterface
     nav2_util::LifecycleNode::SharedPtr node,
     rclcpp::Node::SharedPtr client_node,
     rclcpp::Node::SharedPtr rclcpp_node,
-    nav2_util::ParameterEventsSubscriber * param_subscriber = nullptr);
+    std::shared_ptr<nav2_util::ParameterEventsSubscriber> param_subscriber = nullptr);
   virtual void deactivate() {} /** @brief Stop publishers. */
   virtual void activate() {}   /** @brief Restart publishers if they've been stopped. */
   virtual void reset() {}
@@ -137,7 +137,7 @@ class Layer  // TODO(mjeronimo): public nav2_util::LifecycleHelperInterface
   nav2_util::LifecycleNode::SharedPtr node_;
   rclcpp::Node::SharedPtr client_node_;
   rclcpp::Node::SharedPtr rclcpp_node_;
-  nav2_util::ParameterEventsSubscriber * param_subscriber_;
+  std::shared_ptr<nav2_util::ParameterEventsSubscriber> param_subscriber_;
   std::vector<nav2_util::ParameterEventsCallbackHandle::SharedPtr> callback_handles_;
 
   /** @brief This is called at the end of initialize().  Override to

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -148,7 +148,7 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
 
     // TODO(mjeronimo): instead of get(), use a shared ptr
     plugin->initialize(layered_costmap_, plugin_names_[i], tf_buffer_.get(),
-      shared_from_this(), client_node_, rclcpp_node_, param_subscriber_.get());
+      shared_from_this(), client_node_, rclcpp_node_, param_subscriber_);
 
     RCLCPP_INFO(get_logger(), "Initialized plugin \"%s\"", plugin_names_[i].c_str());
   }

nav2_costmap_2d/src/layer.cpp

@@ -50,7 +50,7 @@ Layer::initialize(
   nav2_util::LifecycleNode::SharedPtr node,
   rclcpp::Node::SharedPtr client_node,
   rclcpp::Node::SharedPtr rclcpp_node,
-  nav2_util::ParameterEventsSubscriber * param_subscriber)
+  std::shared_ptr<nav2_util::ParameterEventsSubscriber> param_subscriber)
 {
   layered_costmap_ = parent;
   name_ = name;