Fix warnings when building against Rolling. (#896)

Rolling has moved header files (deprecating the old one), and changed the preferred form of some templated classes (like TimeSynchronizer). Fix those warnings here. Note that this should *only* be applied for Rolling, as it will fail to compile for earlier versions of ROS 2. Signed-off-by: Chris Lalancette <[email protected]>
cra-ros-pkg · Aug 27, 2024 · 19065fa · 19065fa
1 parent f6b28e0
commit 19065fa
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diff --git a/include/robot_localization/ros_robot_localization_listener.hpp b/include/robot_localization/ros_robot_localization_listener.hpp
@@ -37,8 +37,8 @@
 
 #include "Eigen/Dense"
 #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/time_synchronizer.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/time_synchronizer.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/rclcpp.hpp"

diff --git a/src/ros_robot_localization_listener.cpp b/src/ros_robot_localization_listener.cpp
@@ -70,9 +70,9 @@ RosRobotLocalizationListener::RosRobotLocalizationListener(
   rclcpp::SubscriptionOptions options)
 : qos1_(1),
   qos10_(10),
-  odom_sub_(node, "odom/filtered", qos1_.get_rmw_qos_profile(), options),
-  accel_sub_(node, "acceleration/filtered", qos1_.get_rmw_qos_profile(), options),
-  sync_(odom_sub_, accel_sub_, 10u),
+  odom_sub_(node, "odom/filtered", qos1_, options),
+  accel_sub_(node, "acceleration/filtered", qos1_, options),
+  sync_(10u, odom_sub_, accel_sub_),
   node_clock_(node->get_node_clock_interface()->get_clock()),
   node_logger_(node->get_node_logging_interface()),
   base_frame_id_(""),