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ros2 · Feb 28, 2018 · 4544fc6 · 4544fc6
1 parent c588b09
commit 4544fc6
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Showing 2 changed files with 7 additions and 7 deletions.
diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp
@@ -75,8 +75,8 @@ rmw_publish_raw(const rmw_publisher_t * publisher, const rmw_message_raw_t * raw
   assert(info);
 
   eprosima::fastcdr::FastBuffer buffer(raw_message->buffer, raw_message->buffer_length);
-  eprosima::fastcdr::Cdr ser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-      eprosima::fastcdr::Cdr::DDS_CDR);
+  eprosima::fastcdr::Cdr ser(
+    buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
   if (!ser.jump(raw_message->buffer_length)) {
     RMW_SET_ERROR_MSG("cannot correctly set raw buffer");
   }
@@ -87,7 +87,6 @@ rmw_publish_raw(const rmw_publisher_t * publisher, const rmw_message_raw_t * raw
     RMW_SET_ERROR_MSG("cannot publish data");
   }
 
-  fprintf(stderr, "publishing raw\n");
   return returnedValue;
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp
@@ -135,7 +135,8 @@ rmw_take_raw(
 
     if (sinfo.sampleKind == ALIVE) {
       raw_message->buffer_length = buffer.getBufferSize();
-      raw_message->buffer = (char *)malloc(sizeof(char) * raw_message->buffer_length);
+      raw_message->buffer =
+        reinterpret_cast<char *>(malloc(sizeof(char) * raw_message->buffer_length));
       memcpy(raw_message->buffer, buffer.getBuffer(), raw_message->buffer_length);
       *taken = true;
     }
@@ -173,18 +174,18 @@ rmw_take_raw_with_info(
 
     if (sinfo.sampleKind == ALIVE) {
       raw_message->buffer_length = buffer.getBufferSize();
-      raw_message->buffer = (char *)malloc(sizeof(char) * raw_message->buffer_length);
+      raw_message->buffer =
+        reinterpret_cast<char *>(malloc(sizeof(char) * raw_message->buffer_length));
       memcpy(raw_message->buffer, buffer.getBuffer(), raw_message->buffer_length);
       rmw_gid_t * sender_gid = &message_info->publisher_gid;
       sender_gid->implementation_identifier = eprosima_fastrtps_identifier;
       memset(sender_gid->data, 0, RMW_GID_STORAGE_SIZE);
       memcpy(sender_gid->data, &sinfo.sample_identity.writer_guid(),
-          sizeof(eprosima::fastrtps::rtps::GUID_t));
+        sizeof(eprosima::fastrtps::rtps::GUID_t));
       *taken = true;
     }
   }
 
   return RMW_RET_OK;
 }
-
 }  // extern "C"