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Migrate TransformBroadcaster to use shared_ptr #5569

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Merged
SteveMacenski merged 1 commit into from
Sep 30, 2025
Merged

Migrate TransformBroadcaster to use shared_ptr #5569

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4 changes: 2 additions & 2 deletions nav2_route/test/test_goal_intent_extractor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,7 @@ TEST(GoalIntentExtractorTest, test_transform_pose)
node->get_node_timers_interface());
tf->setCreateTimerInterface(timer_interface);
auto transform_listener = std::make_shared<tf2_ros::TransformListener>(*tf);
tf2_ros::TransformBroadcaster broadcaster(node);
auto broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(node);
std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber = nullptr;
extractor.configure(node, graph, &id_map, tf, costmap_subscriber, "map", "base_link");

Expand All @@ -101,7 +101,7 @@ TEST(GoalIntentExtractorTest, test_transform_pose)
transform.header.frame_id = "map";
transform.header.stamp = node->now();
transform.child_frame_id = "gps";
broadcaster.sendTransform(transform);
broadcaster->sendTransform(transform);
EXPECT_NO_THROW(extractor.transformPose(pose, "map"));
}

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4 changes: 2 additions & 2 deletions nav2_route/test/test_route_tracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@ TEST(RouteTrackerTest, test_get_robot_pose)
node->get_node_timers_interface());
tf->setCreateTimerInterface(timer_interface);
auto transform_listener = std::make_shared<tf2_ros::TransformListener>(*tf);
tf2_ros::TransformBroadcaster broadcaster(node);
auto broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(node);
std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber;

RouteTracker tracker;
Expand All @@ -81,7 +81,7 @@ TEST(RouteTrackerTest, test_get_robot_pose)
transform.header.frame_id = "map";
transform.header.stamp = node->now();
transform.child_frame_id = "base_link";
broadcaster.sendTransform(transform);
broadcaster->sendTransform(transform);
EXPECT_NO_THROW(tracker.getRobotPose());
}

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