fixes

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
ros-perception · Jul 12, 2024 · 15e45f0 · 15e45f0
1 parent 3bb201e
commit 15e45f0
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp b/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp
@@ -315,7 +315,7 @@ DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
           image_transport::getCameraInfoTopic(right_topic), false);
 
         // REP-2003 specifies that subscriber should be SensorDataQoS
-        const auto sensor_data_qos = rclcpp::SensorDataQoS().get_rmw_qos_profile();
+        const auto sensor_data_qos = rclcpp::SensorDataQoS();
 
         // Support image transport for compression
         image_transport::TransportHints hints(this);
@@ -327,11 +327,11 @@ DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
         sub_l_image_.subscribe(
           this, left_topic, hints.getTransport(), sensor_data_qos, sub_opts);
         sub_l_info_.subscribe(this, left_info_topic,
-          sensor_data_qos.get_rmw_qos_profile(), sub_opts);
+          sensor_data_qos, sub_opts);
         sub_r_image_.subscribe(
           this, right_topic, hints.getTransport(), sensor_data_qos, sub_opts);
         sub_r_info_.subscribe(this, right_info_topic,
-          sensor_data_qos.get_rmw_qos_profile(), sub_opts);
+          sensor_data_qos, sub_opts);
       }
     };
 

diff --git a/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp b/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp
@@ -180,7 +180,7 @@ PointCloudNode::PointCloudNode(const rclcpp::NodeOptions & options)
           image_transport::getCameraInfoTopic(left_topic), false);
 
         // REP-2003 specifies that subscriber should be SensorDataQoS
-        const auto sensor_data_qos = rclcpp::SensorDataQoS().get_rmw_qos_profile();
+        const auto sensor_data_qos = rclcpp::SensorDataQoS();
 
         // Support image transport for compression
         image_transport::TransportHints hints(this);
@@ -190,13 +190,13 @@ PointCloudNode::PointCloudNode(const rclcpp::NodeOptions & options)
         sub_opts.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
 
         sub_l_image_.subscribe(
-          this, left_topic, hints.getTransport(), sensor_data_qos, sub_opts);
+          this, left_topic, hints.getTransport(), sensor_data_qos.get_rmw_qos_profile(), sub_opts);
         sub_l_info_.subscribe(this, left_info_topic,
-          sensor_data_qos.get_rmw_qos_profile(), sub_opts);
+          sensor_data_qos, sub_opts);
         sub_r_info_.subscribe(this, right_topic,
-          sensor_data_qos.get_rmw_qos_profile(), sub_opts);
+          sensor_data_qos, sub_opts);
         sub_disparity_.subscribe(this, disparity_topic,
-          sensor_data_qos.get_rmw_qos_profile(), sub_opts);
+          sensor_data_qos, sub_opts);
       }
     };
   pub_points2_ = create_publisher<sensor_msgs::msg::PointCloud2>("points2", 1, pub_opts);