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convert candidate shared ptrs to unique ptrs #1234

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Merged
SteveMacenski merged 1 commit into from
Oct 14, 2019
Merged

convert candidate shared ptrs to unique ptrs #1234

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2 changes: 1 addition & 1 deletion nav2_controller/include/nav2_controller/nav2_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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2 changes: 1 addition & 1 deletion nav2_controller/src/nav2_controller.cpp
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Expand Up @@ -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
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8 changes: 4 additions & 4 deletions nav2_recoveries/include/nav2_recoveries/recovery.hpp
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Expand Up @@ -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>(
Expand Down Expand Up @@ -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_;
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