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fix(bag_time_manager_rviz_plugin): update create_client API to use rc… #2783

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merged 5 commits into from
Feb 6, 2023
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fix(bag_time_manager_rviz_plugin): update create_client API to use rc… #2783

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184e5fe
fix(bag_time_manager_rviz_plugin): update create_client API to use rc…
esteve Jan 30, 2023
ed5cc49
style(pre-commit): autofix
pre-commit-ci[bot] Jan 30, 2023
6f70ff8
Added support for Humble and Iron
esteve Jan 30, 2023
c2705dd
style(pre-commit): autofix
pre-commit-ci[bot] Jan 30, 2023
6037d4a
reduce maintenance cost while supporting iron and humble
Jan 31, 2023
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19 changes: 13 additions & 6 deletions common/bag_time_manager_rviz_plugin/src/bag_time_manager_panel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,8 @@
#include <qt5/QtWidgets/QWidget>
#include <rviz_common/display_context.hpp>

#include <rclcpp/version.h>

namespace rviz_plugins
{
BagTimeManagerPanel::BagTimeManagerPanel(QWidget * parent) : rviz_common::Panel(parent)
Expand Down Expand Up @@ -66,12 +68,17 @@ BagTimeManagerPanel::BagTimeManagerPanel(QWidget * parent) : rviz_common::Panel(
void BagTimeManagerPanel::onInitialize()
{
raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node();
client_pause_ =
raw_node_->create_client<Pause>("/rosbag2_player/pause", rmw_qos_profile_services_default);
client_resume_ =
raw_node_->create_client<Resume>("/rosbag2_player/resume", rmw_qos_profile_services_default);
client_set_rate_ =
raw_node_->create_client<SetRate>("/rosbag2_player/set_rate", rmw_qos_profile_services_default);

// APIs taking rclcpp::QoS objects are only available in ROS 2 Iron and higher
#if RCLCPP_VERSION_MAJOR >= 18
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const auto qos_default = rclcpp::ServicesQoS();
#else
const auto qos_default = rmw_qos_profile_services_default;
#endif

client_pause_ = raw_node_->create_client<Pause>("/rosbag2_player/pause", qos_default);
client_resume_ = raw_node_->create_client<Resume>("/rosbag2_player/resume", qos_default);
client_set_rate_ = raw_node_->create_client<SetRate>("/rosbag2_player/set_rate", qos_default);
}

void BagTimeManagerPanel::onPauseClicked()
Expand Down