From 9a62d5a617bfb65ca47e80459734d0c962ca2711 Mon Sep 17 00:00:00 2001
From: stevemacenski <stevenmacenski@gmail.com>
Date: Fri, 11 Oct 2019 17:32:45 -0700
Subject: [PATCH] convert candidate shared ptrs to unique ptrs

---
 .../include/nav2_controller/nav2_controller.hpp           | 2 +-
 nav2_controller/src/nav2_controller.cpp                   | 2 +-
 nav2_recoveries/include/nav2_recoveries/recovery.hpp      | 8 ++++----
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/nav2_controller/include/nav2_controller/nav2_controller.hpp b/nav2_controller/include/nav2_controller/nav2_controller.hpp
index d484d40cf5b..05835ce86c4 100644
--- a/nav2_controller/include/nav2_controller/nav2_controller.hpp
+++ b/nav2_controller/include/nav2_controller/nav2_controller.hpp
@@ -71,7 +71,7 @@ class ControllerServer : public nav2_util::LifecycleNode
   std::unique_ptr<std::thread> costmap_thread_;
 
   // Publishers and subscribers
-  std::shared_ptr<nav_2d_utils::OdomSubscriber> odom_sub_;
+  std::unique_ptr<nav_2d_utils::OdomSubscriber> odom_sub_;
   rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::Twist>::SharedPtr vel_publisher_;
 
   // Local Planner Plugin
diff --git a/nav2_controller/src/nav2_controller.cpp b/nav2_controller/src/nav2_controller.cpp
index 06ea009b709..0207ef3403a 100644
--- a/nav2_controller/src/nav2_controller.cpp
+++ b/nav2_controller/src/nav2_controller.cpp
@@ -85,7 +85,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
   get_parameter("controller_frequency", controller_frequency_);
   RCLCPP_INFO(get_logger(), "Controller frequency set to %.4fHz", controller_frequency_);
 
-  odom_sub_ = std::make_shared<nav_2d_utils::OdomSubscriber>(node);
+  odom_sub_ = std::make_unique<nav_2d_utils::OdomSubscriber>(node);
   vel_publisher_ = create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", 1);
 
   // Create the action server that we implement with our followPath method
diff --git a/nav2_recoveries/include/nav2_recoveries/recovery.hpp b/nav2_recoveries/include/nav2_recoveries/recovery.hpp
index 808629a65ca..e2fcf186aae 100644
--- a/nav2_recoveries/include/nav2_recoveries/recovery.hpp
+++ b/nav2_recoveries/include/nav2_recoveries/recovery.hpp
@@ -104,10 +104,10 @@ class Recovery : public nav2_core::Recovery
     action_server_ = std::make_unique<ActionServer>(node_, recovery_name_,
         std::bind(&Recovery::execute, this));
 
-    costmap_sub_ = std::make_shared<nav2_costmap_2d::CostmapSubscriber>(
+    costmap_sub_ = std::make_unique<nav2_costmap_2d::CostmapSubscriber>(
       node_, costmap_topic);
 
-    footprint_sub_ = std::make_shared<nav2_costmap_2d::FootprintSubscriber>(
+    footprint_sub_ = std::make_unique<nav2_costmap_2d::FootprintSubscriber>(
       node_, footprint_topic);
 
     collision_checker_ = std::make_unique<nav2_costmap_2d::CollisionChecker>(
@@ -147,8 +147,8 @@ class Recovery : public nav2_core::Recovery
   std::shared_ptr<tf2_ros::Buffer> tf_;
   std::unique_ptr<ActionServer> action_server_;
 
-  std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub_;
-  std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub_;
+  std::unique_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub_;
+  std::unique_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub_;
   std::unique_ptr<nav2_costmap_2d::CollisionChecker> collision_checker_;
   double cycle_frequency_;
   double enabled_;