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fix(cloudini_ros): bind node to a named lvalue for PointCloudTransport on Rolling #117

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Merged
facontidavide merged 2 commits into from
Jun 21, 2026
Merged

fix(cloudini_ros): bind node to a named lvalue for PointCloudTransport on Rolling #117

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7558aca
fix(cloudini_ros): bind node to a named lvalue for PointCloudTranspor…
facontidavide Jun 4, 2026
59902d1
Merge branch 'main' into fix/ros-pct-node-interfaces
facontidavide Jun 21, 2026
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7 changes: 5 additions & 2 deletions cloudini_ros/test/test_plugin_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,8 +42,11 @@ class CloudiniPluginPublisherTestNode : public rclcpp::Node {
RCLCPP_INFO(this->get_logger(), "Subscribing to: %s", input_topic.c_str());
RCLCPP_INFO(this->get_logger(), "Publishing to: %s", output_topic.c_str());

// Create point_cloud_transport publisher
pct_ = std::make_shared<point_cloud_transport::PointCloudTransport>(shared_from_this());
// Create point_cloud_transport publisher. PointCloudTransport binds the node by
// non-const lvalue ref (rclcpp::NodeInterfaces), so pass a named lvalue — Rolling
// dropped the deprecated by-value Node::SharedPtr ctor.
std::shared_ptr<rclcpp::Node> node = shared_from_this();
pct_ = std::make_shared<point_cloud_transport::PointCloudTransport>(node);
transport_publisher_ = pct_->advertise(output_topic, 10);

// Create standard ROS2 subscriber
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5 changes: 4 additions & 1 deletion cloudini_ros/test/test_plugin_subscriber.cpp
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Expand Up @@ -48,7 +48,10 @@ class CloudiniPluginTestNode : public rclcpp::Node {
RCLCPP_INFO(this->get_logger(), "Subscribing to topic: %s", topic.c_str());
RCLCPP_INFO(this->get_logger(), "Using transport: %s", transport.c_str());

pct_ = std::make_shared<point_cloud_transport::PointCloudTransport>(shared_from_this());
// PointCloudTransport binds the node by non-const lvalue ref (rclcpp::NodeInterfaces),
// so pass a named lvalue — Rolling dropped the deprecated by-value Node::SharedPtr ctor.
std::shared_ptr<rclcpp::Node> node = shared_from_this();
pct_ = std::make_shared<point_cloud_transport::PointCloudTransport>(node);

// Create transport hints to specify which compression to use
auto transport_hint = std::make_shared<point_cloud_transport::TransportHints>(transport);
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