Merge pull request #31 from ros2/update_message_api

update message API

userland/src/explicit/two_nodes.cpp

@@ -19,14 +19,14 @@
 
 #include <simple_msgs/msg/string.hpp>
 
-void on_message(const simple_msgs::msg::String::ConstPtr & msg)
+void on_message(const simple_msgs::msg::String::ConstSharedPtr & msg)
 {
   std::cout << "I heard [" << msg->data << "]" << std::endl;
 }
 
 void on_timer(rclcpp::Publisher::SharedPtr & publisher, int & i)
 {
-  simple_msgs::msg::String::Ptr msg(new simple_msgs::msg::String());
+  simple_msgs::msg::String::SharedPtr msg(new simple_msgs::msg::String());
   msg->data = "Hello World: " + std::to_string(i++);
   if (publisher) {
     std::cout << "Publishing: '" << msg->data << "'" << std::endl;

userland/src/imu/imu32/publisher.cpp

@@ -25,10 +25,10 @@
 
 
 template<typename T>
-int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::Ptr &, size_t))
+int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::SharedPtr &, size_t))
 {
   auto p = node->create_publisher<T>("imu", 1000);
-  typename T::Ptr ros_msg(new T());
+  typename T::SharedPtr ros_msg(new T());
 
   auto start = std::chrono::steady_clock::now();
   rclcpp::WallRate rate(10);
@@ -48,7 +48,7 @@ int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::Ptr
   return 0;
 }
 
-void set_imu_data(simple_msgs::msg::Imu32::Ptr & ros_msg, size_t i)
+void set_imu_data(simple_msgs::msg::Imu32::SharedPtr & ros_msg, size_t i)
 {
   // Define the header
   ros_msg->header.seq = i;
@@ -88,7 +88,7 @@ void set_imu_data(simple_msgs::msg::Imu32::Ptr & ros_msg, size_t i)
 }
 
 template<typename T>
-void set_empty(typename T::Ptr & ros_msg, size_t i)
+void set_empty(typename T::SharedPtr & ros_msg, size_t i)
 {
   ros_msg.reset(new T());
 }

userland/src/imu/imu32/subscriber.cpp

@@ -27,7 +27,7 @@ rclcpp::subscription::SubscriptionBase::SharedPtr subscribe(
   return sub;
 }
 
-void print_accel_data(const simple_msgs::msg::Imu32::ConstPtr & msg)
+void print_accel_data(const simple_msgs::msg::Imu32::ConstSharedPtr & msg)
 {
 
   std::cout << "-------------------------" << std::endl;

userland/src/imu/imu_double/publisher.cpp

@@ -25,10 +25,10 @@
 
 
 template<typename T>
-int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::Ptr &, size_t))
+int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::SharedPtr &, size_t))
 {
   auto p = node->create_publisher<T>("imu", 1000);
-  typename T::Ptr ros_msg(new T());
+  typename T::SharedPtr ros_msg(new T());
 
   auto start = std::chrono::steady_clock::now();
   rclcpp::WallRate rate(10);
@@ -48,15 +48,15 @@ int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::Ptr
   return 0;
 }
 
-void set_accel_data(simple_msgs::msg::Vector3::Ptr & ros_msg, size_t i)
+void set_accel_data(simple_msgs::msg::Vector3::SharedPtr & ros_msg, size_t i)
 {
   ros_msg->x = 1;
   ros_msg->y = 2;
   ros_msg->z = 3;
 }
 
 template<typename T>
-void set_empty(typename T::Ptr & ros_msg, size_t i)
+void set_empty(typename T::SharedPtr & ros_msg, size_t i)
 {
   ros_msg.reset(new T());
 }

userland/src/imu/imu_double/subscriber.cpp

@@ -27,7 +27,7 @@ rclcpp::subscription::SubscriptionBase::SharedPtr subscribe(
   return sub;
 }
 
-void print_accel_data(const simple_msgs::msg::Vector3::ConstPtr & msg)
+void print_accel_data(const simple_msgs::msg::Vector3::ConstSharedPtr & msg)
 {
   std::cout << "-------------------------" << std::endl;
   std::cout << "Got accel x=" << msg->x << std::endl;

userland/src/imu/imu_float/publisher.cpp

@@ -25,10 +25,10 @@
 
 
 template<typename T>
-int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::Ptr &, size_t))
+int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::SharedPtr &, size_t))
 {
   auto p = node->create_publisher<T>("imu", 1000);
-  typename T::Ptr ros_msg(new T());
+  typename T::SharedPtr ros_msg(new T());
 
   auto start = std::chrono::steady_clock::now();
   rclcpp::WallRate rate(10);
@@ -48,15 +48,15 @@ int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::Ptr
   return 0;
 }
 
-void set_accel_data(simple_msgs::msg::Vector3Float::Ptr & ros_msg, size_t i)
+void set_accel_data(simple_msgs::msg::Vector3Float::SharedPtr & ros_msg, size_t i)
 {
   ros_msg->x = 1;
   ros_msg->y = 2;
   ros_msg->z = 3;
 }
 
 template<typename T>
-void set_empty(typename T::Ptr & ros_msg, size_t i)
+void set_empty(typename T::SharedPtr & ros_msg, size_t i)
 {
   ros_msg.reset(new T());
 }

userland/src/imu/imu_float/subscriber.cpp

@@ -27,7 +27,7 @@ rclcpp::subscription::SubscriptionBase::SharedPtr subscribe(
   return sub;
 }
 
-void print_accel_data(const simple_msgs::msg::Vector3Float::ConstPtr & msg)
+void print_accel_data(const simple_msgs::msg::Vector3Float::ConstSharedPtr & msg)
 {
   std::cout << "-------------------------" << std::endl;
   std::cout << "Got accel x=" << msg->x << std::endl;

userland/src/imu/imu_int/publisher.cpp

@@ -25,10 +25,10 @@
 
 
 template<typename T>
-int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::Ptr &, size_t))
+int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::SharedPtr &, size_t))
 {
   auto p = node->create_publisher<T>("imu", 1000);
-  typename T::Ptr ros_msg(new T());
+  typename T::SharedPtr ros_msg(new T());
 
   auto start = std::chrono::steady_clock::now();
   rclcpp::WallRate rate(10);
@@ -48,15 +48,15 @@ int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::Ptr
   return 0;
 }
 
-void set_accel_data(simple_msgs::msg::Vector3Int::Ptr & ros_msg, size_t i)
+void set_accel_data(simple_msgs::msg::Vector3Int::SharedPtr & ros_msg, size_t i)
 {
   ros_msg->x = 1;
   ros_msg->y = 2;
   ros_msg->z = 3;
 }
 
 template<typename T>
-void set_empty(typename T::Ptr & ros_msg, size_t i)
+void set_empty(typename T::SharedPtr & ros_msg, size_t i)
 {
   ros_msg.reset(new T());
 }

userland/src/imu/imu_int/subscriber.cpp

@@ -27,7 +27,7 @@ rclcpp::subscription::SubscriptionBase::SharedPtr subscribe(
   return sub;
 }
 
-void print_accel_data(const simple_msgs::msg::Vector3Int::ConstPtr & msg)
+void print_accel_data(const simple_msgs::msg::Vector3Int::ConstSharedPtr & msg)
 {
   std::cout << "-------------------------" << std::endl;
   std::cout << "Got accel x=" << msg->x << std::endl;

userland/src/imu/rosimu/publisher.cpp

@@ -25,10 +25,10 @@
 
 
 template<typename T>
-int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::Ptr &, size_t))
+int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::SharedPtr &, size_t))
 {
   auto p = node->create_publisher<T>("imu", 1000);
-  typename T::Ptr ros_msg(new T());
+  typename T::SharedPtr ros_msg(new T());
 
   auto start = std::chrono::steady_clock::now();
   rclcpp::WallRate rate(10);
@@ -48,7 +48,7 @@ int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::Ptr
   return 0;
 }
 
-void set_imu_data(simple_msgs::msg::Imu::Ptr & ros_msg, size_t i)
+void set_imu_data(simple_msgs::msg::Imu::SharedPtr & ros_msg, size_t i)
 {
   // Define the header
   ros_msg->header.seq = i;
@@ -88,7 +88,7 @@ void set_imu_data(simple_msgs::msg::Imu::Ptr & ros_msg, size_t i)
 }
 
 template<typename T>
-void set_empty(typename T::Ptr & ros_msg, size_t i)
+void set_empty(typename T::SharedPtr & ros_msg, size_t i)
 {
   ros_msg.reset(new T());
 }

userland/src/imu/rosimu/subscriber.cpp

@@ -27,7 +27,7 @@ rclcpp::subscription::SubscriptionBase::SharedPtr subscribe(
   return sub;
 }
 
-void print_accel_data(const simple_msgs::msg::Imu::ConstPtr & msg)
+void print_accel_data(const simple_msgs::msg::Imu::ConstSharedPtr & msg)
 {
 
   std::cout << "-------------------------" << std::endl;

userland/src/prototype_intraprocesses.cpp

@@ -35,7 +35,7 @@ void decrement(Intraprocess_t * meta)
   }
 }
 
-void callback(const simple_msgs::msg::Intraprocess::ConstPtr & msg)
+void callback(const simple_msgs::msg::Intraprocess::ConstSharedPtr & msg)
 {
   Intraprocess_t * meta = (Intraprocess_t *) msg->ptr;
   std::cout << "------ Got message: " << *(meta->data) << std::endl;
@@ -65,7 +65,7 @@ void launch_publisher(Intraprocess_t * s)
   std::cout << "------ Creating publisher:" << std::endl;
   auto n = rclcpp::Node::make_shared("prototype_intraprocess_pub");
   auto p = n->create_publisher<simple_msgs::msg::Intraprocess>("intraprocess", 1000);
-  simple_msgs::msg::Intraprocess::Ptr ros_msg;
+  simple_msgs::msg::Intraprocess::SharedPtr ros_msg;
 
   // Wait one second for the publisher to set up.
   std::this_thread::sleep_for(std::chrono::milliseconds(1000));

userland/src/publisher.cpp

@@ -33,10 +33,10 @@
 
 
 template<typename T>
-int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::Ptr &, size_t))
+int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::SharedPtr &, size_t))
 {
   auto p = node->create_publisher<T>("topic_name", 1000);
-  typename T::Ptr ros_msg(new T());
+  typename T::SharedPtr ros_msg(new T());
 
   auto start = std::chrono::steady_clock::now();
   rclcpp::WallRate rate(10);
@@ -56,12 +56,12 @@ int publish(rclcpp::Node::SharedPtr node, void (* set_data_func)(typename T::Ptr
   return 0;
 }
 
-void set_counter_data(simple_msgs::msg::Uint32::Ptr & ros_msg, size_t i)
+void set_counter_data(simple_msgs::msg::Uint32::SharedPtr & ros_msg, size_t i)
 {
   ros_msg->data = i;
 }
 
-void set_all_primitive_data(simple_msgs::msg::AllPrimitiveTypes::Ptr & ros_msg, size_t i)
+void set_all_primitive_data(simple_msgs::msg::AllPrimitiveTypes::SharedPtr & ros_msg, size_t i)
 {
   ros_msg->my_bool = i % 2;
   ros_msg->my_byte = i % 256;
@@ -79,7 +79,7 @@ void set_all_primitive_data(simple_msgs::msg::AllPrimitiveTypes::Ptr & ros_msg,
   ros_msg->my_string = "foo " + std::to_string(i);
 }
 
-void set_all_static_array(simple_msgs::msg::AllStaticArrayTypes::Ptr & ros_msg, size_t i)
+void set_all_static_array(simple_msgs::msg::AllStaticArrayTypes::SharedPtr & ros_msg, size_t i)
 {
   int start = i - 1; // get the zero
   int end = i + 5; // assuming that the array size is 6
@@ -103,7 +103,7 @@ void set_all_static_array(simple_msgs::msg::AllStaticArrayTypes::Ptr & ros_msg,
   }
 }
 
-void set_all_dynamic_array(simple_msgs::msg::AllDynamicArrayTypes::Ptr & ros_msg, size_t i)
+void set_all_dynamic_array(simple_msgs::msg::AllDynamicArrayTypes::SharedPtr & ros_msg, size_t i)
 {
   int array_size = i - 1;
   ros_msg->my_bool.resize(array_size);
@@ -139,12 +139,12 @@ void set_all_dynamic_array(simple_msgs::msg::AllDynamicArrayTypes::Ptr & ros_msg
   }
 }
 
-void set_nested(simple_msgs::msg::Nested::Ptr & ros_msg, size_t i)
+void set_nested(simple_msgs::msg::Nested::SharedPtr & ros_msg, size_t i)
 {
   ros_msg->submsg.data = i;
 }
 
-void set_string(simple_msgs::msg::String::Ptr & ros_msg, size_t i)
+void set_string(simple_msgs::msg::String::SharedPtr & ros_msg, size_t i)
 {
   i = std::pow(2, i) - 1;
   ros_msg->data = "";
@@ -154,12 +154,12 @@ void set_string(simple_msgs::msg::String::Ptr & ros_msg, size_t i)
 }
 
 template<typename T>
-void set_empty(typename T::Ptr & ros_msg, size_t i)
+void set_empty(typename T::SharedPtr & ros_msg, size_t i)
 {
   ros_msg.reset(new T());
 }
 
-void set_builtin(simple_msgs::msg::AllBuiltinTypes::Ptr & ros_msg, size_t i)
+void set_builtin(simple_msgs::msg::AllBuiltinTypes::SharedPtr & ros_msg, size_t i)
 {
   ros_msg->my_duration.sec = -i;
   ros_msg->my_duration.nanosec = i;

userland/src/ros1_like/listener.cpp

@@ -21,8 +21,8 @@
 // #include "std_msgs/String.h"
 #include <simple_msgs/msg/string.hpp>
 
-// void chatterCallback(const std_msgs::String::ConstPtr& msg)
-void chatterCallback(const simple_msgs::msg::String::ConstPtr & msg)
+// void chatterCallback(const std_msgs::String::ConstSharedPtr& msg)
+void chatterCallback(const simple_msgs::msg::String::ConstSharedPtr & msg)
 {
   // ROS_INFO("I heard: [%s]", msg->data.c_str());
   std::cout << "I heard: [" << msg->data << "]" << std::endl;

userland/src/subscriber.cpp

@@ -36,12 +36,12 @@ rclcpp::subscription::SubscriptionBase::SharedPtr subscribe(
   return sub;
 }
 
-void print_counter_data(const simple_msgs::msg::Uint32::ConstPtr & msg)
+void print_counter_data(const simple_msgs::msg::Uint32::ConstSharedPtr & msg)
 {
   std::cout << "Got message #" << msg->data << std::endl;
 }
 
-void print_all_primitive_data(const simple_msgs::msg::AllPrimitiveTypes::ConstPtr & msg)
+void print_all_primitive_data(const simple_msgs::msg::AllPrimitiveTypes::ConstSharedPtr & msg)
 {
   std::cout << "Got message:" << std::endl;
   std::cout << "  my_bool: " << msg->my_bool << std::endl;
@@ -67,7 +67,7 @@ void print_all_primitive_data(const simple_msgs::msg::AllPrimitiveTypes::ConstPt
   } \
   std::cout << std::endl;
 
-void print_all_static_array(const simple_msgs::msg::AllStaticArrayTypes::ConstPtr & msg)
+void print_all_static_array(const simple_msgs::msg::AllStaticArrayTypes::ConstSharedPtr & msg)
 {
   std::cout << "Got message:" << std::endl;
   PRINT_STATIC_ARRAY_FIELD(my_bool, 6)
@@ -93,7 +93,7 @@ void print_all_static_array(const simple_msgs::msg::AllStaticArrayTypes::ConstPt
   } \
   std::cout << std::endl;
 
-void print_all_dynamic_array(const simple_msgs::msg::AllDynamicArrayTypes::ConstPtr & msg)
+void print_all_dynamic_array(const simple_msgs::msg::AllDynamicArrayTypes::ConstSharedPtr & msg)
 {
   std::cout << "Got message:" << std::endl;
   PRINT_DYNAMIC_ARRAY_FIELD(my_bool)
@@ -112,17 +112,17 @@ void print_all_dynamic_array(const simple_msgs::msg::AllDynamicArrayTypes::Const
   PRINT_DYNAMIC_ARRAY_FIELD(my_string)
 }
 
-void print_nested(const simple_msgs::msg::Nested::ConstPtr & msg)
+void print_nested(const simple_msgs::msg::Nested::ConstSharedPtr & msg)
 {
   std::cout << "Got message #" << msg->submsg.data << std::endl;
 }
 
-void print_string(const simple_msgs::msg::String::ConstPtr & msg)
+void print_string(const simple_msgs::msg::String::ConstSharedPtr & msg)
 {
   std::cout << "Got message: " << msg->data << std::endl;
 }
 
-void print_builtin(const simple_msgs::msg::AllBuiltinTypes::ConstPtr & msg)
+void print_builtin(const simple_msgs::msg::AllBuiltinTypes::ConstSharedPtr & msg)
 {
   std::cout << "Got message: " << msg->my_duration.sec
             << ":" << msg->my_duration.nanosec