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Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros-perception · Jul 12, 2024 · 3bb201e · 3bb201e
1 parent c4f867c
commit 3bb201e
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp b/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp
@@ -327,11 +327,11 @@ DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
         sub_l_image_.subscribe(
           this, left_topic, hints.getTransport(), sensor_data_qos, sub_opts);
         sub_l_info_.subscribe(this, left_info_topic,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(sensor_data_qos)), sub_opts);
+          sensor_data_qos.get_rmw_qos_profile(), sub_opts);
         sub_r_image_.subscribe(
           this, right_topic, hints.getTransport(), sensor_data_qos, sub_opts);
         sub_r_info_.subscribe(this, right_info_topic,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(sensor_data_qos)), sub_opts);
+          sensor_data_qos.get_rmw_qos_profile(), sub_opts);
       }
     };
 

diff --git a/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp b/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp
@@ -192,11 +192,11 @@ PointCloudNode::PointCloudNode(const rclcpp::NodeOptions & options)
         sub_l_image_.subscribe(
           this, left_topic, hints.getTransport(), sensor_data_qos, sub_opts);
         sub_l_info_.subscribe(this, left_info_topic,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(sensor_data_qos)), sub_opts);
+          sensor_data_qos.get_rmw_qos_profile(), sub_opts);
         sub_r_info_.subscribe(this, right_topic,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(sensor_data_qos)), sub_opts);
+          sensor_data_qos.get_rmw_qos_profile(), sub_opts);
         sub_disparity_.subscribe(this, disparity_topic,
-          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(sensor_data_qos)), sub_opts);
+          sensor_data_qos.get_rmw_qos_profile(), sub_opts);
       }
     };
   pub_points2_ = create_publisher<sensor_msgs::msg::PointCloud2>("points2", 1, pub_opts);