From ab38941976ca402608831573a91861d929380bc3 Mon Sep 17 00:00:00 2001
From: danielbrownmsm <daniel.brown@msmrockets.org>
Date: Thu, 15 Feb 2024 22:16:58 -0600
Subject: [PATCH] code builds now or, at least, kind of

---
 .../src/autonav_nav/include/autonav_nav/astar.h      | 11 ++++++-----
 autonav_ws/src/autonav_nav/src/astar.cpp             | 12 +++++-------
 2 files changed, 11 insertions(+), 12 deletions(-)

diff --git a/autonav_ws/src/autonav_nav/include/autonav_nav/astar.h b/autonav_ws/src/autonav_nav/include/autonav_nav/astar.h
index 21b3e5ee..64910fca 100644
--- a/autonav_ws/src/autonav_nav/include/autonav_nav/astar.h
+++ b/autonav_ws/src/autonav_nav/include/autonav_nav/astar.h
@@ -41,16 +41,17 @@ struct GraphNode {
 
 class AStarNode : public SCR::Node {
 public:
-    AStarNode();
+    AStarNode() : SCR::Node("astar_fast") {}
+    ~AStarNode() {};
 
     void init() override;
 private:
     // === ros things ===
     // subcribers
-    rclcpp::Subscription<nav_msgs::msg::OccupancyGrid> leftExpandedSubscriber;
-    rclcpp::Subscription<nav_msgs::msg::OccupancyGrid> rightExpandedSubscriber;
-    rclcpp::Subscription<geometry_msgs::msg::Pose> poseSubscriber;
-    rclcpp::Subscription<autonav_msgs::msg::IMUData> imuSubscriber;
+    rclcpp::Subscription<nav_msgs::msg::OccupancyGrid>::SharedPtr leftExpandedSubscriber;
+    rclcpp::Subscription<nav_msgs::msg::OccupancyGrid>::SharedPtr rightExpandedSubscriber;
+    rclcpp::Subscription<geometry_msgs::msg::Pose>::SharedPtr poseSubscriber;
+    rclcpp::Subscription<autonav_msgs::msg::IMUData>::SharedPtr imuSubscriber;
 
     // publishers
     rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr pathPublisher;
diff --git a/autonav_ws/src/autonav_nav/src/astar.cpp b/autonav_ws/src/autonav_nav/src/astar.cpp
index fbb40b1e..71338afd 100644
--- a/autonav_ws/src/autonav_nav/src/astar.cpp
+++ b/autonav_ws/src/autonav_nav/src/astar.cpp
@@ -9,10 +9,8 @@
 // also TODO make the file reading code so we can a list of waypoints and stuff
 //TODO make smellification or whatever goal-finding heuristic algorithm thingy
 //TODO use reserve() to not have to constantly resize all our vectors
+//TODO write actual subscriber methods and whatnot
 
-AstarNode AStarNode::AstarNode() : SCR::Node("astar_fast") {
-    //TODO constructor or something
-}
 
 void AStarNode::init() {
     // TODO do this?
@@ -26,12 +24,12 @@ void AStarNode::init() {
 
 
     // left/right filtered subscribers
-    leftExpandedSubscriber = this->create_subscription<nav_msgs::msg::OccupancyGrid>("/autonav/cfg_space/expanded/left", std::bind(&AStarNode::onLeftReceived, this, std::placeholders::_1), 20);
-    rightExpandedSubscriber = this->create_subscription<nav_msgs::msg::OccupancyGrid>("/autonav/cfg_space/expanded/right", std::bind(&AStarNode::onRightReceived, this, std::placeholders::_1), 20);
+    leftExpandedSubscriber = this->create_subscription<nav_msgs::msg::OccupancyGrid>("/autonav/cfg_space/expanded/left", 20, std::bind(&AStarNode::onLeftReceived, this, std::placeholders::_1));
+    rightExpandedSubscriber = this->create_subscription<nav_msgs::msg::OccupancyGrid>("/autonav/cfg_space/expanded/right", 20, std::bind(&AStarNode::onRightReceived, this, std::placeholders::_1));
     
     // localization data subscribers
-    poseSubscriber = this->create_subscription<nav_msgs::msg::Position>("/autonav/position", std::bind(&AStarNode::onPoseReceived, this, std::placeholders::_1), 20);
-    imuSubscriber = this->create_subscription<autonav_msgs::msg::IMUData>("/autonav/imu", std::bind(&AStarNode::onImuReceived, this, std::placeholders::_1), 20);
+    poseSubscriber = this->create_subscription<geometry_msgs::msg::Pose>("/autonav/position", 20, std::bind(&AStarNode::onPoseReceived, this, std::placeholders::_1));
+    imuSubscriber = this->create_subscription<autonav_msgs::msg::IMUData>("/autonav/imu", 20, std::bind(&AStarNode::onImuReceived, this, std::placeholders::_1));
     // raw_map_subscriber = create_subscription<nav_msgs::msg::OccupancyGrid>(directionify("/autonav/cfg_space/raw"), 20, std::bind(&ExpandifyNode::onConfigSpaceReceived, this, std::placeholders::_1));
 
     // === publishers ===