Merge pull request #197 from bjsowa/shared-from-this-fix

Don't use shared_from_this in the constructor
ros-perception · Jul 22, 2024 · fb10f8b · fb10f8b
2 parents e2ed8c3 + 8cb26af
commit fb10f8b
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/src/scan_to_cloud_filter_chain.cpp b/src/scan_to_cloud_filter_chain.cpp
@@ -46,7 +46,8 @@ ScanToCloudFilterChain::ScanToCloudFilterChain(
   buffer_(this->get_clock()),
   tf_(buffer_),
   sub_(this, "scan", rmw_qos_profile_sensor_data),
-  filter_(sub_, buffer_, "", 50, this->shared_from_this()),
+  filter_(sub_, buffer_, "", 50, this->get_node_logging_interface(),
+    this->get_node_clock_interface()),
   cloud_filter_chain_("sensor_msgs::msg::PointCloud2"),
   scan_filter_chain_("sensor_msgs::msg::LaserScan")
 {

diff --git a/src/scan_to_scan_filter_chain.cpp b/src/scan_to_scan_filter_chain.cpp
@@ -56,7 +56,7 @@ ScanToScanFilterChain::ScanToScanFilterChain(
     tf_filter_.reset(
       new tf2_ros::MessageFilter<sensor_msgs::msg::LaserScan>(
         scan_sub_, buffer_, "",
-        50, this->shared_from_this()));
+        50, this->get_node_logging_interface(), this->get_node_clock_interface()));
     tf_filter_->setTargetFrame(tf_message_filter_target_frame);
     tf_filter_->setTolerance(std::chrono::duration<double>(tf_filter_tolerance_));