From 37697c830caae2eba0681cb240a133b74bf665e3 Mon Sep 17 00:00:00 2001 From: HAIDAR OBEID <31267966+ObeidHaidar@users.noreply.github.com> Date: Mon, 6 Mar 2023 18:00:11 +1000 Subject: [PATCH] fix ServicesQoS error --- .../include/nav2_behavior_tree/bt_service_node.hpp | 2 +- nav2_lifecycle_manager/src/lifecycle_manager.cpp | 4 ++-- nav2_util/include/nav2_util/service_client.hpp | 2 +- nav2_waypoint_follower/plugins/photo_at_waypoint.cpp | 2 +- 4 files changed, 5 insertions(+), 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 index dde5449caa..a5fe6e0021 100644 --- 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( 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 index 67307c8a92..68c58ea22e 100644 --- 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( 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( 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 index 97ee781c58..a867e27b2a 100644 --- 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( 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 index 8a6cb74b96..59babee22e 100644 --- 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 {