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Fix RCLC calls #42

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Merged
pablogs9 merged 1 commit into from
Mar 3, 2021
Merged

Fix RCLC calls #42

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4 changes: 2 additions & 2 deletions rclc/autodiscover_agent/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ int main()
RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "int32_publisher_rclc", "", &support));

// create publisher
Expand All @@ -56,7 +56,7 @@ int main()
"std_msgs_msg_Int32"));

// create timer,
rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
&timer,
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2 changes: 1 addition & 1 deletion rclc/complex_msg_publisher/main.c
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Expand Up @@ -21,7 +21,7 @@ int main()
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "complex_message_node", "", &support));

// create publisher
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2 changes: 1 addition & 1 deletion rclc/complex_msg_subscriber/main.c
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Expand Up @@ -44,7 +44,7 @@ int main(void)
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "complex_message_node", "", &support));

// create subscriber
Expand Down
4 changes: 2 additions & 2 deletions rclc/configuration_example/configured_publisher/main.c
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Expand Up @@ -47,7 +47,7 @@ int main(int argc, char * const argv[])
RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
rcl_node_options_t node_ops = rcl_node_get_default_options();
node_ops.domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
const char * node_name = "int32_configured_publisher_rclc";
Expand All @@ -62,7 +62,7 @@ int main(int argc, char * const argv[])
"std_msgs_msg_Int32"));

// create timer,
rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
&timer,
Expand Down
2 changes: 1 addition & 1 deletion rclc/configuration_example/configured_subscriber/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ int main(int argc, const char * const * argv)
RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
rcl_node_options_t node_ops = rcl_node_get_default_options();
node_ops.domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
const char * node_name = "int32_configured_subscriber_rclc";
Expand Down
4 changes: 2 additions & 2 deletions rclc/configuration_example/custom_transports/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -148,7 +148,7 @@ int main(int argc, char * const argv[])
RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "custom_transport_node", "", &support));

// create publisher
Expand All @@ -159,7 +159,7 @@ int main(int argc, char * const argv[])
"std_msgs_msg_Int32"));

// create timer,
rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
&timer,
Expand Down
4 changes: 2 additions & 2 deletions rclc/fragmented_publication/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ int main(int argc, const char * const * argv)
RCCHECK(rclc_support_init(&support, argc, argv, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "char_long_sequence_publisher_rcl", "", &support));

// create publisher
Expand All @@ -45,7 +45,7 @@ int main(int argc, const char * const * argv)
"/char_long_sequence"));

// create timer,
rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
&timer,
Expand Down
2 changes: 1 addition & 1 deletion rclc/fragmented_subscription/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ int main(int argc, const char * const * argv)
RCCHECK(rclc_support_init(&support, argc, argv, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "char_long_sequence_subscriber_rcl", "", &support));

// create subscriber
Expand Down
8 changes: 4 additions & 4 deletions rclc/int32_multinode/main.c
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Expand Up @@ -63,7 +63,7 @@ int main(int argc, const char * const * argv)

// ----- NODE 1 -----
// create node
rcl_node_t node_1 = rcl_get_zero_initialized_node();
rcl_node_t node_1;
RCCHECK(rclc_node_init_default(&node_1, "int32_node_1", "", &support));

// create publisher
Expand All @@ -81,7 +81,7 @@ int main(int argc, const char * const * argv)
"node_2_to_1"));

// create timer,
rcl_timer_t timer_1 = rcl_get_zero_initialized_timer();
rcl_timer_t timer_1;
RCCHECK(rclc_timer_init_default(
&timer_1,
&support,
Expand All @@ -96,7 +96,7 @@ int main(int argc, const char * const * argv)

// ----- NODE 2 -----
// create node
rcl_node_t node_2 = rcl_get_zero_initialized_node();
rcl_node_t node_2;
RCCHECK(rclc_node_init_default(&node_2, "int32_node_2", "", &support));

// create publisher
Expand All @@ -114,7 +114,7 @@ int main(int argc, const char * const * argv)
"node_1_to_2"));

// create timer,
rcl_timer_t timer_2 = rcl_get_zero_initialized_timer();
rcl_timer_t timer_2;
RCCHECK(rclc_timer_init_default(
&timer_2,
&support,
Expand Down
4 changes: 2 additions & 2 deletions rclc/int32_publisher/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ int main()
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "int32_publisher_rclc", "", &support));

// create publisher
Expand All @@ -44,7 +44,7 @@ int main()
"std_msgs_msg_Int32"));

// create timer,
rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
&timer,
Expand Down
4 changes: 2 additions & 2 deletions rclc/int32_publisher_subscriber/main.c
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Expand Up @@ -40,7 +40,7 @@ int main(int argc, const char * const * argv)
RCCHECK(rclc_support_init(&support, argc, argv, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "int32_publisher_subscriber_rclc", "", &support));

// create publisher
Expand All @@ -58,7 +58,7 @@ int main(int argc, const char * const * argv)
"int32_subscriber"));

// create timer,
rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
&timer,
Expand Down
2 changes: 1 addition & 1 deletion rclc/int32_subscriber/main.c
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Expand Up @@ -28,7 +28,7 @@ int main()
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "int32_subscriber_rclc", "", &support));

// create subscriber
Expand Down
4 changes: 2 additions & 2 deletions rclc/ping_pong/main.c
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Expand Up @@ -82,7 +82,7 @@ int main()
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "pingpong_node", "", &support));

// Create a reliable ping publisher
Expand All @@ -99,7 +99,7 @@ int main()


// Create a 3 seconds ping timer timer,
rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer;
RCCHECK(rclc_timer_init_default(&timer, &support, RCL_MS_TO_NS(2000), ping_timer_callback));


Expand Down
4 changes: 2 additions & 2 deletions rclc/string_publisher/main.c
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Expand Up @@ -38,7 +38,7 @@ int main(int argc, const char * const * argv)
RCCHECK(rclc_support_init(&support, argc, argv, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "string_node", "", &support));

// create publisher
Expand All @@ -49,7 +49,7 @@ int main(int argc, const char * const * argv)
"/string_publisher"));

// create timer,
rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
&timer,
Expand Down
2 changes: 1 addition & 1 deletion rclc/string_subscriber/main.c
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Expand Up @@ -33,7 +33,7 @@ int main(int argc, const char * const * argv)
RCCHECK(rclc_support_init(&support, argc, argv, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "string_node", "", &support));

// create subscriber
Expand Down
4 changes: 2 additions & 2 deletions rclc/timer/main.c
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Expand Up @@ -25,11 +25,11 @@ int main()
RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "timer_node", "", &support));

// create timer,
rcl_timer_t timer = rcl_get_zero_initialized_timer();
rcl_timer_t timer;
const unsigned int timer_timeout = 1000;
RCCHECK(rclc_timer_init_default(
&timer,
Expand Down