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Update subscription callback signatures #2225

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Merged
ahcorde merged 1 commit into from
Nov 12, 2025
Merged

Update subscription callback signatures #2225

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2 changes: 1 addition & 1 deletion rosbag2_examples/rosbag2_examples_cpp/src/compressed_bag_recorder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ class CompressedBagRecorder : public rclcpp::Node {
}

private:
void topic_callback(std::shared_ptr<rclcpp::SerializedMessage> msg) const
void topic_callback(std::shared_ptr<const rclcpp::SerializedMessage> msg) const
{
rclcpp::Time time_stamp = this->now();

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2 changes: 1 addition & 1 deletion rosbag2_examples/rosbag2_examples_cpp/src/simple_bag_recorder.cpp
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Expand Up @@ -36,7 +36,7 @@ class SimpleBagRecorder : public rclcpp::Node
}

private:
void topic_callback(std::shared_ptr<rclcpp::SerializedMessage> msg) const
void topic_callback(std::shared_ptr<const rclcpp::SerializedMessage> msg) const
{
rclcpp::Time time_stamp = this->now();
writer_->write(msg, "chatter", "example_interfaces/msg/String", time_stamp);
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4 changes: 2 additions & 2 deletions rosbag2_test_common/include/rosbag2_test_common/subscription_manager.hpp
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Expand Up @@ -63,7 +63,7 @@ class SubscriptionManager
subscriber_node_->create_subscription<MessageT>(
topic_name,
qos,
[this, topic_name](std::shared_ptr<rclcpp::SerializedMessage> msg) {
[this, topic_name](std::shared_ptr<const rclcpp::SerializedMessage> msg) {
subscribed_messages_[topic_name].push_back(msg);
},
options);
Expand Down Expand Up @@ -219,7 +219,7 @@ class SubscriptionManager

std::unordered_map<std::string, rclcpp::SubscriptionBase::SharedPtr> subscriptions_;
std::unordered_map<std::string,
std::vector<std::shared_ptr<rclcpp::SerializedMessage>>> subscribed_messages_;
std::vector<std::shared_ptr<const rclcpp::SerializedMessage>>> subscribed_messages_;
std::unordered_map<std::string, size_t> expected_topics_with_size_;
rclcpp::Node::SharedPtr subscriber_node_;
const std::chrono::milliseconds sleep_per_loop_ = std::chrono::milliseconds(2);
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