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Use const& signature for read-only sub callbacks #337

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merged 1 commit into from
Feb 16, 2022
Merged

Use const& signature for read-only sub callbacks #337

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4 changes: 2 additions & 2 deletions rclcpp/topics/minimal_subscriber/member_function.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,9 +31,9 @@ class MinimalSubscriber : public rclcpp::Node
}

private:
void topic_callback(const std_msgs::msg::String::ConstSharedPtr msg) const
void topic_callback(const std_msgs::msg::String & msg) const
{
RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg.data.c_str());
}
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
};
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6 changes: 3 additions & 3 deletions rclcpp/topics/minimal_subscriber/member_function_with_topic_statistics.cpp
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Expand Up @@ -36,7 +36,7 @@ class MinimalSubscriberWithTopicStatistics : public rclcpp::Node
// configure the topic name (default '/statistics')
// options.topic_stats_options.publish_topic = "/topic_statistics"

auto callback = [this](std_msgs::msg::String::ConstSharedPtr msg) {
auto callback = [this](const std_msgs::msg::String & msg) {
this->topic_callback(msg);
};

Expand All @@ -45,9 +45,9 @@ class MinimalSubscriberWithTopicStatistics : public rclcpp::Node
}

private:
void topic_callback(const std_msgs::msg::String::ConstSharedPtr msg) const
void topic_callback(const std_msgs::msg::String & msg) const
{
RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg.data.c_str());
}
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
};
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8 changes: 4 additions & 4 deletions rclcpp/topics/minimal_subscriber/member_function_with_unique_network_flow_endpoints.cpp
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Expand Up @@ -79,13 +79,13 @@ class MinimalSubscriberWithUniqueNetworkFlowEndpoints : public rclcpp::Node
}

private:
void topic_1_callback(const std_msgs::msg::String::ConstSharedPtr msg) const
void topic_1_callback(const std_msgs::msg::String & msg) const
{
RCLCPP_INFO(this->get_logger(), "Topic 1 news: '%s'", msg->data.c_str());
RCLCPP_INFO(this->get_logger(), "Topic 1 news: '%s'", msg.data.c_str());
}
void topic_2_callback(const std_msgs::msg::String::ConstSharedPtr msg) const
void topic_2_callback(const std_msgs::msg::String & msg) const
{
RCLCPP_INFO(this->get_logger(), "Topic 2 news: '%s'", msg->data.c_str());
RCLCPP_INFO(this->get_logger(), "Topic 2 news: '%s'", msg.data.c_str());
}
/// Print network flow endpoints in JSON-like format
void print_network_flow_endpoints(
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4 changes: 2 additions & 2 deletions rclcpp/topics/minimal_subscriber/not_composable.cpp
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Expand Up @@ -22,9 +22,9 @@ rclcpp::Node::SharedPtr g_node = nullptr;
* examples for the "new" recommended styles. This example is only included
* for completeness because it is similar to "classic" standalone ROS nodes. */

void topic_callback(const std_msgs::msg::String::ConstSharedPtr msg)
void topic_callback(const std_msgs::msg::String & msg)
{
RCLCPP_INFO(g_node->get_logger(), "I heard: '%s'", msg->data.c_str());
RCLCPP_INFO(g_node->get_logger(), "I heard: '%s'", msg.data.c_str());
}

int main(int argc, char * argv[])
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