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Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros-perception · Feb 15, 2024 · 1df003f · 1df003f
1 parent f0424d5
commit 1df003f
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Showing 3 changed files with 3 additions and 13 deletions.
diff --git a/point_cloud_transport/include/point_cloud_transport/point_cloud_transport.hpp b/point_cloud_transport/include/point_cloud_transport/point_cloud_transport.hpp
@@ -263,8 +263,7 @@ class PointCloudTransport : public PointCloudTransportLoader
   point_cloud_transport::Subscriber subscribe(
     const std::string & base_topic, rmw_qos_profile_t custom_qos,
     void (T::* fp)(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &) const, T * obj,
-    const point_cloud_transport::TransportHints * transport_hints = nullptr,
-    bool /*allow_concurrent_callbacks*/ = false)
+    const point_cloud_transport::TransportHints * transport_hints = nullptr)
   {
     return subscribe(
       base_topic, custom_qos, std::bind(
@@ -276,8 +275,7 @@ class PointCloudTransport : public PointCloudTransportLoader
   point_cloud_transport::Subscriber subscribe(
     const std::string & base_topic, uint32_t queue_size,
     void (T::* fp)(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &) const, T * obj,
-    const point_cloud_transport::TransportHints * transport_hints = nullptr,
-    bool /*allow_concurrent_callbacks*/ = false)
+    const point_cloud_transport::TransportHints * transport_hints = nullptr)
   {
     return subscribe(
       base_topic, queue_size, std::bind(

diff --git a/point_cloud_transport/include/point_cloud_transport/publisher_plugin.hpp b/point_cloud_transport/include/point_cloud_transport/publisher_plugin.hpp
@@ -87,7 +87,7 @@ class PublisherPlugin
   /// or an error message.
   ///
   POINT_CLOUD_TRANSPORT_PUBLIC
-  virtual EncodeResult encode(const sensor_msgs::msg::PointCloud2 & raw) const;
+  virtual EncodeResult encode(const sensor_msgs::msg::PointCloud2 & raw) const = 0;
 
   //! Publish a point cloud using the transport associated with this PublisherPlugin.
   virtual void publish(const sensor_msgs::msg::PointCloud2 & message) const = 0;

diff --git a/point_cloud_transport/src/publisher_plugin.cpp b/point_cloud_transport/src/publisher_plugin.cpp
@@ -38,14 +38,6 @@
 namespace point_cloud_transport
 {
 
-PublisherPlugin::EncodeResult PublisherPlugin::encode(const sensor_msgs::msg::PointCloud2 & /*raw*/)
-const
-{
-  // TODO(ahcorde): Review this, infinite recursion
-  // return this->encode(raw);
-  return std::nullopt;
-}
-
 void PublisherPlugin::advertise(
   std::shared_ptr<rclcpp::Node> node,
   const std::string & base_topic,