Merge pull request #30 from ros2/callback-unique-ptr

Update to create_subscription

intra_process_demo/src/cyclic_pipeline/cyclic_pipeline.cpp

@@ -28,7 +28,7 @@ struct IncrementerPipe : public rclcpp::Node
     pub = this->create_publisher<std_msgs::msg::Int32>(out, rmw_qos_profile_default);
     std::weak_ptr<std::remove_pointer<decltype(pub.get())>::type> captured_pub = pub;
     // Create a subscription on the input topic.
-    sub = this->create_subscription_with_unique_ptr_callback<std_msgs::msg::Int32>(
+    sub = this->create_subscription<std_msgs::msg::Int32>(
       in, rmw_qos_profile_default,
       [captured_pub](std_msgs::msg::Int32::UniquePtr msg) {
         auto pub_ptr = captured_pub.lock();

intra_process_demo/src/image_pipeline/watermark_node.hpp

@@ -35,7 +35,7 @@ class WatermarkNode : public rclcpp::Node
     pub_ = this->create_publisher<sensor_msgs::msg::Image>(output, qos);
     std::weak_ptr<std::remove_pointer<decltype(pub_.get())>::type> captured_pub = pub_;
     // Create a subscription on the output topic.
-    sub_ = this->create_subscription_with_unique_ptr_callback<sensor_msgs::msg::Image>(input, qos,
+    sub_ = this->create_subscription<sensor_msgs::msg::Image>(input, qos,
       [captured_pub, text](sensor_msgs::msg::Image::UniquePtr msg) {
         auto pub_ptr = captured_pub.lock();
         if (!pub_ptr) {

intra_process_demo/src/two_node_pipeline/two_node_pipeline.cpp

@@ -52,7 +52,7 @@ struct Consumer : public rclcpp::Node
   : Node(name, true)
   {
     // Create a subscription on the input topic which prints on receipt of new messages.
-    sub_ = this->create_subscription_with_unique_ptr_callback<std_msgs::msg::Int32>(
+    sub_ = this->create_subscription<std_msgs::msg::Int32>(
       input, rmw_qos_profile_default, [](std_msgs::msg::Int32::UniquePtr msg) {
       printf(" Received message with value: %d, and address: %p\n", msg->data, msg.get());
     });