From edbf7745db72cd85119d6942753e5773efed9237 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve@osrfoundation.org>
Date: Wed, 18 Mar 2015 18:14:37 -0700
Subject: [PATCH 1/2] Use type support handle functions from the rmw
 implementation

---
 rclcpp/include/rclcpp/node_impl.hpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index 699fe37919..dbc7972f36 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -20,6 +20,9 @@
 #include <string>
 
 #include <rmw/rmw.h>
+#include <rmw/get_type_support_handle.h>
+#include <rmw/get_service_type_support_handle.h>
+
 #include <rosidl_generator_cpp/MessageTypeSupport.h>
 #include <rosidl_generator_cpp/ServiceTypeSupport.h>
 
@@ -63,7 +66,7 @@ template<typename MessageT>
 publisher::Publisher::SharedPtr
 Node::create_publisher(std::string topic_name, size_t queue_size)
 {
-  using rosidl_generator_cpp::get_type_support_handle;
+  using rmw::get_type_support_handle;
   auto type_support_handle = get_type_support_handle<MessageT>();
   rmw_publisher_t * publisher_handle = rmw_create_publisher(
     node_handle_, type_support_handle, topic_name.c_str(), queue_size);
@@ -94,7 +97,7 @@ Node::create_subscription(
   std::function<void(const std::shared_ptr<MessageT> &)> callback,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  using rosidl_generator_cpp::get_type_support_handle;
+  using rmw::get_type_support_handle;
   auto type_support_handle = get_type_support_handle<MessageT>();
   rmw_subscription_t * subscriber_handle = rmw_create_subscription(
     node_handle_, type_support_handle, topic_name.c_str(), queue_size);

From 9f6ffc47cb3ed4708de05d7d4148a142aeaed1a2 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve@osrfoundation.org>
Date: Thu, 19 Mar 2015 19:12:44 -0700
Subject: [PATCH 2/2] Removed unused include

---
 rclcpp/include/rclcpp/node_impl.hpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index dbc7972f36..f1c09456ee 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -21,7 +21,6 @@
 
 #include <rmw/rmw.h>
 #include <rmw/get_type_support_handle.h>
-#include <rmw/get_service_type_support_handle.h>
 
 #include <rosidl_generator_cpp/MessageTypeSupport.h>
 #include <rosidl_generator_cpp/ServiceTypeSupport.h>