From 761a8cb923986cbec30857e1c3d58b7c6d1597d2 Mon Sep 17 00:00:00 2001
From: homalozoa <nx.tardis@gmail.com>
Date: Thu, 24 Oct 2024 20:35:13 +0800
Subject: [PATCH] fix: porting to new rclcpp service template API

Signed-off-by: homalozoa <nx.tardis@gmail.com>
---
 ch4/service/ch4_service_cpp/CMakeLists.txt      | 5 +++++
 ch4/service/ch4_service_cpp/src/single_node.cpp | 4 ++++
 2 files changed, 9 insertions(+)

diff --git a/ch4/service/ch4_service_cpp/CMakeLists.txt b/ch4/service/ch4_service_cpp/CMakeLists.txt
index 17cd88e..ef142d4 100644
--- 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
index e6ee41d..9ab8c4c 100644
--- 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_);
   }