fix: porting to new rclcpp service template API

Signed-off-by: homalozoa <[email protected]>
homalozoa · Oct 24, 2024 · 761a8cb · 761a8cb
1 parent ea1f4e5
commit 761a8cb
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diff --git a/ch4/service/ch4_service_cpp/CMakeLists.txt b/ch4/service/ch4_service_cpp/CMakeLists.txt
@@ -9,6 +9,11 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 
+set(ROS_DISTRO $ENV{ROS_DISTRO})
+if(${ROS_DISTRO} STREQUAL "rolling")
+  add_compile_definitions(NEW_SERVICE_TEMPLATE)
+endif()
+
 set(executable_selfservice self_exec)
 set(executable_selfnode self_node)
 

diff --git a/ch4/service/ch4_service_cpp/src/single_node.cpp b/ch4/service/ch4_service_cpp/src/single_node.cpp
@@ -45,7 +45,11 @@ class SingleNode : public rclcpp::Node
     server_ = this->create_service<rcl_interfaces::srv::GetParameters>(
       "get_para",
       std::bind(&SingleNode::service_callback, this, std::placeholders::_1, std::placeholders::_2),
+      #ifdef NEW_SERVICE_TEMPLATE
+      rclcpp::ServiceQoS(),
+      #else
       rmw_qos_profile_services_default,
+      #endif
       cb_group_);
   }