Switch from deprecated signature to const shared_ptr reference while …

…still supporting efficient intra-process communication

See ros2/rclcpp#1598.

Signed-off-by: Sarah Huber <[email protected]>

off_highway_can/include/off_highway_can/receiver.hpp

@@ -83,7 +83,7 @@ class Receiver : public rclcpp::Node
    *
    * \param frame ROS CAN frame
    */
-  void callback_can(const can_msgs::msg::Frame::SharedPtr frame);
+  void callback_can(const can_msgs::msg::Frame::ConstSharedPtr & frame);
 
   /**
    * \brief Returns message definitions of configured CAN messages

off_highway_can/src/receiver.cpp

@@ -80,7 +80,7 @@ void Receiver::callback_watchdog()
   }
 }
 
-void Receiver::callback_can(const can_msgs::msg::Frame::SharedPtr frame)
+void Receiver::callback_can(const can_msgs::msg::Frame::ConstSharedPtr & frame)
 {
 #if (RCLCPP_LOG_MIN_SEVERITY <= RCLCPP_LOG_MIN_SEVERITY_DEBUG)
   using std::chrono::steady_clock;

off_highway_premium_radar/include/off_highway_premium_radar/converters/default_converter.hpp

@@ -142,7 +142,7 @@ class DefaultConverter : public Converter
    * \brief Subscription callback on ego vehicle data
    */
   void on_ego_vehicle_data(
-    const off_highway_premium_radar_msgs::msg::EgoVehicleInput::SharedPtr msg);
+    const off_highway_premium_radar_msgs::msg::EgoVehicleInput::ConstSharedPtr & msg);
 
   /**
    * \brief Send measurement cycle sync (triggered by timer)

off_highway_premium_radar/src/converters/default_converter.cpp

@@ -189,7 +189,7 @@ void DefaultConverter::on_sensor_dtc_information(const SensorDTCInformation & da
 
 
 void DefaultConverter::on_ego_vehicle_data(
-  const off_highway_premium_radar_msgs::msg::EgoVehicleInput::SharedPtr msg)
+  const off_highway_premium_radar_msgs::msg::EgoVehicleInput::ConstSharedPtr & msg)
 {
   // TODO(rcp1-beg) Check the x velocity range [-100, 100]?
   EgoVehicleInput d;

off_highway_premium_radar/src/converters/ros_message_conversions.hpp

@@ -305,7 +305,7 @@ auto to_msg(const SensorDTCInformation & d, const rclcpp::Time stamp, const std:
 
 // From ROS message
 inline
-auto from_msg(const msg::EgoVehicleInput::SharedPtr msg)
+auto from_msg(const msg::EgoVehicleInput::ConstSharedPtr & msg)
 {
   const auto & x_velocity_variance = msg->vehicle_data.velocity.covariance[0];
   if (x_velocity_variance < 0.0) {

off_highway_radar/include/off_highway_radar/sender.hpp

@@ -50,7 +50,7 @@ class Sender : public off_highway_can::Sender
    *
    * \param msg Received message data
    */
-  void callback_input(const RadarInput::SharedPtr msg);
+  void callback_input(const RadarInput::ConstSharedPtr & msg);
 
   /**
    * \brief Fill message definitions to encode frames of CAN node. Only stored definitions are sent.

off_highway_radar/src/sender.cpp

@@ -31,7 +31,7 @@ Sender::Sender(const rclcpp::NodeOptions & options)
   );
 }
 
-void Sender::callback_input(const RadarInput::SharedPtr msg)
+void Sender::callback_input(const RadarInput::ConstSharedPtr & msg)
 {
   if (std::abs((now() - msg->header.stamp).seconds()) < allowed_age_) {
     auto & v = messages_[ego_velocity_id_].signals["v"];

off_highway_uss/include/off_highway_uss/sender.hpp

@@ -46,7 +46,7 @@ class Sender : public off_highway_can::Sender
    *
    * \param msg Received message data
    */
-  void callback_input(const UssInput::SharedPtr msg);
+  void callback_input(const UssInput::ConstSharedPtr & msg);
 
   /**
    * \brief Fill message definitions to encode frames of CAN node. Only stored definitions are sent.

off_highway_uss/src/sender.cpp

@@ -31,7 +31,7 @@ Sender::Sender(const rclcpp::NodeOptions & options)
   );
 }
 
-void Sender::callback_input(const UssInput::SharedPtr msg)
+void Sender::callback_input(const UssInput::ConstSharedPtr & msg)
 {
   if (std::abs((now() - msg->header.stamp).seconds()) < allowed_age_) {
     auto & outside_temperature = messages_[outside_temperature_id_].signals["OutsideTemperature"];