Update for rclcpp namespace removals > > connects to ros2/rclcpp#416

include/ros1_bridge/bridge.hpp

@@ -33,12 +33,12 @@ namespace ros1_bridge
 struct Bridge1to2Handles
 {
   ros::Subscriber ros1_subscriber;
-  rclcpp::publisher::PublisherBase::SharedPtr ros2_publisher;
+  rclcpp::PublisherBase::SharedPtr ros2_publisher;
 };
 
 struct Bridge2to1Handles
 {
-  rclcpp::subscription::SubscriptionBase::SharedPtr ros2_subscriber;
+  rclcpp::SubscriptionBase::SharedPtr ros2_subscriber;
   ros::Publisher ros1_publisher;
 };
 
@@ -69,7 +69,7 @@ get_factory(
 Bridge1to2Handles
 create_bridge_from_1_to_2(
   ros::NodeHandle ros1_node,
-  rclcpp::node::Node::SharedPtr ros2_node,
+  rclcpp::Node::SharedPtr ros2_node,
   const std::string & ros1_type_name,
   const std::string & ros1_topic_name,
   size_t subscriber_queue_size,
@@ -92,7 +92,7 @@ create_bridge_from_1_to_2(
 
 Bridge2to1Handles
 create_bridge_from_2_to_1(
-  rclcpp::node::Node::SharedPtr ros2_node,
+  rclcpp::Node::SharedPtr ros2_node,
   ros::NodeHandle ros1_node,
   const std::string & ros2_type_name,
   const std::string & ros2_topic_name,
@@ -117,7 +117,7 @@ create_bridge_from_2_to_1(
 BridgeHandles
 create_bidirectional_bridge(
   ros::NodeHandle ros1_node,
-  rclcpp::node::Node::SharedPtr ros2_node,
+  rclcpp::Node::SharedPtr ros2_node,
   const std::string & ros1_type_name,
   const std::string & ros2_type_name,
   const std::string & topic_name,

include/ros1_bridge/factory.hpp

@@ -48,9 +48,9 @@ class Factory : public FactoryInterface
     return node.advertise<ROS1_T>(topic_name, queue_size);
   }
 
-  rclcpp::publisher::PublisherBase::SharedPtr
+  rclcpp::PublisherBase::SharedPtr
   create_ros2_publisher(
-    rclcpp::node::Node::SharedPtr node,
+    rclcpp::Node::SharedPtr node,
     const std::string & topic_name,
     size_t queue_size)
   {
@@ -64,7 +64,7 @@ class Factory : public FactoryInterface
     ros::NodeHandle node,
     const std::string & topic_name,
     size_t queue_size,
-    rclcpp::publisher::PublisherBase::SharedPtr ros2_pub)
+    rclcpp::PublisherBase::SharedPtr ros2_pub)
   {
     // workaround for https://github.com/ros/roscpp_core/issues/22 to get the connection header
     ros::SubscribeOptions ops;
@@ -80,9 +80,9 @@ class Factory : public FactoryInterface
     return node.subscribe(ops);
   }
 
-  rclcpp::subscription::SubscriptionBase::SharedPtr
+  rclcpp::SubscriptionBase::SharedPtr
   create_ros2_subscriber(
-    rclcpp::node::Node::SharedPtr node,
+    rclcpp::Node::SharedPtr node,
     const std::string & topic_name,
     size_t queue_size,
     ros::Publisher ros1_pub)
@@ -105,13 +105,13 @@ class Factory : public FactoryInterface
   static
   void ros1_callback(
     const ros::MessageEvent<ROS1_T const> & ros1_msg_event,
-    rclcpp::publisher::PublisherBase::SharedPtr ros2_pub,
+    rclcpp::PublisherBase::SharedPtr ros2_pub,
     const std::string & ros1_type_name,
     const std::string & ros2_type_name)
   {
-    typename rclcpp::publisher::Publisher<ROS2_T>::SharedPtr typed_ros2_pub;
+    typename rclcpp::Publisher<ROS2_T>::SharedPtr typed_ros2_pub;
     typed_ros2_pub =
-      std::dynamic_pointer_cast<typename rclcpp::publisher::Publisher<ROS2_T>>(ros2_pub);
+      std::dynamic_pointer_cast<typename rclcpp::Publisher<ROS2_T>>(ros2_pub);
 
     if (!typed_ros2_pub) {
       throw std::runtime_error("Invalid type for publisher");
@@ -199,18 +199,18 @@ class ServiceFactory : public ServiceFactoryInterface
   }
 
   bool forward_1_to_2(
-    rclcpp::client::ClientBase::SharedPtr cli,
+    rclcpp::ClientBase::SharedPtr cli,
     const ROS1Request & request1, ROS1Response & response1)
   {
-    auto client = std::dynamic_pointer_cast<rclcpp::client::Client<ROS2_T>>(cli);
+    auto client = std::dynamic_pointer_cast<rclcpp::Client<ROS2_T>>(cli);
     if (!client) {
       fprintf(stderr, "Failed to get the client.\n");
       return false;
     }
     auto request2 = std::make_shared<ROS2Request>();
     translate_1_to_2(request1, *request2);
     while (!client->wait_for_service(std::chrono::seconds(1))) {
-      if (!rclcpp::utilities::ok()) {
+      if (!rclcpp::ok()) {
         fprintf(stderr, "Client was interrupted while waiting for the service. Exiting.\n");
         return false;
       }
@@ -229,7 +229,7 @@ class ServiceFactory : public ServiceFactoryInterface
   }
 
   ServiceBridge1to2 service_bridge_1_to_2(
-    ros::NodeHandle & ros1_node, rclcpp::node::Node::SharedPtr ros2_node, const std::string & name)
+    ros::NodeHandle & ros1_node, rclcpp::Node::SharedPtr ros2_node, const std::string & name)
   {
     ServiceBridge1to2 bridge;
     bridge.client = ros2_node->create_client<ROS2_T>(name);
@@ -240,7 +240,7 @@ class ServiceFactory : public ServiceFactoryInterface
   }
 
   ServiceBridge2to1 service_bridge_2_to_1(
-    ros::NodeHandle & ros1_node, rclcpp::node::Node::SharedPtr ros2_node, const std::string & name)
+    ros::NodeHandle & ros1_node, rclcpp::Node::SharedPtr ros2_node, const std::string & name)
   {
     ServiceBridge2to1 bridge;
     bridge.client = ros1_node.serviceClient<ROS1_T>(name);

include/ros1_bridge/factory_interface.hpp

@@ -33,12 +33,12 @@ namespace ros1_bridge
 struct ServiceBridge1to2
 {
   ros::ServiceServer server;
-  rclcpp::client::ClientBase::SharedPtr client;
+  rclcpp::ClientBase::SharedPtr client;
 };
 
 struct ServiceBridge2to1
 {
-  rclcpp::service::ServiceBase::SharedPtr server;
+  rclcpp::ServiceBase::SharedPtr server;
   ros::ServiceClient client;
 };
 
@@ -53,9 +53,9 @@ class FactoryInterface
     size_t queue_size) = 0;
 
   virtual
-  rclcpp::publisher::PublisherBase::SharedPtr
+  rclcpp::PublisherBase::SharedPtr
   create_ros2_publisher(
-    rclcpp::node::Node::SharedPtr node,
+    rclcpp::Node::SharedPtr node,
     const std::string & topic_name,
     size_t queue_size) = 0;
 
@@ -65,12 +65,12 @@ class FactoryInterface
     ros::NodeHandle node,
     const std::string & topic_name,
     size_t queue_size,
-    rclcpp::publisher::PublisherBase::SharedPtr ros2_pub) = 0;
+    rclcpp::PublisherBase::SharedPtr ros2_pub) = 0;
 
   virtual
-  rclcpp::subscription::SubscriptionBase::SharedPtr
+  rclcpp::SubscriptionBase::SharedPtr
   create_ros2_subscriber(
-    rclcpp::node::Node::SharedPtr node,
+    rclcpp::Node::SharedPtr node,
     const std::string & topic_name,
     size_t queue_size,
     ros::Publisher ros1_pub) = 0;
@@ -80,10 +80,10 @@ class ServiceFactoryInterface
 {
 public:
   virtual ServiceBridge1to2 service_bridge_1_to_2(
-    ros::NodeHandle &, rclcpp::node::Node::SharedPtr, const std::string &) = 0;
+    ros::NodeHandle &, rclcpp::Node::SharedPtr, const std::string &) = 0;
 
   virtual ServiceBridge2to1 service_bridge_2_to_1(
-    ros::NodeHandle &, rclcpp::node::Node::SharedPtr, const std::string &) = 0;
+    ros::NodeHandle &, rclcpp::Node::SharedPtr, const std::string &) = 0;
 };
 
 }  // namespace ros1_bridge

src/dynamic_bridge.cpp

@@ -120,7 +120,7 @@ bool parse_command_options(
 
 void update_bridge(
   ros::NodeHandle & ros1_node,
-  rclcpp::node::Node::SharedPtr ros2_node,
+  rclcpp::Node::SharedPtr ros2_node,
   const std::map<std::string, std::string> & ros1_publishers,
   const std::map<std::string, std::string> & ros1_subscribers,
   const std::map<std::string, std::string> & ros2_publishers,
@@ -458,7 +458,7 @@ int main(int argc, char * argv[])
 
   // ROS 2 node
   rclcpp::init(argc, argv);
-  auto ros2_node = rclcpp::node::Node::make_shared("ros_bridge");
+  auto ros2_node = rclcpp::Node::make_shared("ros_bridge");
 
   // mapping of available topic names to type names
   std::map<std::string, std::string> ros1_publishers;
@@ -758,7 +758,7 @@ int main(int argc, char * argv[])
 
   // ROS 2 spinning loop
   rclcpp::executors::SingleThreadedExecutor executor;
-  while (ros1_node.ok() && rclcpp::utilities::ok()) {
+  while (ros1_node.ok() && rclcpp::ok()) {
     executor.spin_node_once(ros2_node);
   }
 

src/parameter_bridge.cpp

@@ -39,7 +39,7 @@ int main(int argc, char * argv[])
 
   // ROS 2 node
   rclcpp::init(argc, argv);
-  auto ros2_node = rclcpp::node::Node::make_shared("ros_bridge");
+  auto ros2_node = rclcpp::Node::make_shared("ros_bridge");
 
   std::list<ros1_bridge::BridgeHandles> all_handles;
 
@@ -94,7 +94,7 @@ int main(int argc, char * argv[])
 
   // ROS 2 spinning loop
   rclcpp::executors::SingleThreadedExecutor executor;
-  while (ros1_node.ok() && rclcpp::utilities::ok()) {
+  while (ros1_node.ok() && rclcpp::ok()) {
     executor.spin_node_once(ros2_node, std::chrono::milliseconds(1000));
   }
 

src/simple_bridge.cpp

@@ -46,7 +46,7 @@ void ros2ChatterCallback(const std_msgs::msg::String::SharedPtr ros2_msg)
 }
 
 
-rclcpp::publisher::Publisher<std_msgs::msg::String>::SharedPtr ros2_pub;
+rclcpp::Publisher<std_msgs::msg::String>::SharedPtr ros2_pub;
 
 void ros1ChatterCallback(const ros::MessageEvent<std_msgs::String const> & ros1_msg_event)
 {
@@ -80,7 +80,7 @@ int main(int argc, char * argv[])
 
   // ROS 2 node and publisher
   rclcpp::init(argc, argv);
-  auto ros2_node = rclcpp::node::Node::make_shared("ros_bridge");
+  auto ros2_node = rclcpp::Node::make_shared("ros_bridge");
   ros2_pub = ros2_node->create_publisher<std_msgs::msg::String>(
     "chatter", rmw_qos_profile_sensor_data);
 
@@ -98,7 +98,7 @@ int main(int argc, char * argv[])
 
   // ROS 2 spinning loop
   rclcpp::executors::SingleThreadedExecutor executor;
-  while (ros1_node.ok() && rclcpp::utilities::ok()) {
+  while (ros1_node.ok() && rclcpp::ok()) {
     executor.spin_node_once(ros2_node, std::chrono::milliseconds(1000));
   }
 

src/simple_bridge_1_to_2.cpp

@@ -31,7 +31,7 @@
 #include "std_msgs/msg/string.hpp"
 
 
-rclcpp::publisher::Publisher<std_msgs::msg::String>::SharedPtr pub;
+rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub;
 
 void chatterCallback(const std_msgs::String::ConstPtr & ros1_msg)
 {
@@ -47,7 +47,7 @@ int main(int argc, char * argv[])
 {
   // ROS 2 node and publisher
   rclcpp::init(argc, argv);
-  auto node = rclcpp::node::Node::make_shared("talker");
+  auto node = rclcpp::Node::make_shared("talker");
   pub = node->create_publisher<std_msgs::msg::String>("chatter");
 
   // ROS 1 node and subscriber

src/simple_bridge_2_to_1.cpp

@@ -51,7 +51,7 @@ int main(int argc, char * argv[])
 
   // ROS 2 node and subscriber
   rclcpp::init(argc, argv);
-  auto node = rclcpp::node::Node::make_shared("listener");
+  auto node = rclcpp::Node::make_shared("listener");
   auto sub = node->create_subscription<std_msgs::msg::String>(
     "chatter", chatterCallback, rmw_qos_profile_sensor_data);
 

src/static_bridge.cpp

@@ -38,7 +38,7 @@ int main(int argc, char * argv[])
 
   // ROS 2 node
   rclcpp::init(argc, argv);
-  auto ros2_node = rclcpp::node::Node::make_shared("ros_bridge");
+  auto ros2_node = rclcpp::Node::make_shared("ros_bridge");
 
   // bridge one example topic
   std::string topic_name = "chatter";
@@ -55,7 +55,7 @@ int main(int argc, char * argv[])
 
   // ROS 2 spinning loop
   rclcpp::executors::SingleThreadedExecutor executor;
-  while (ros1_node.ok() && rclcpp::utilities::ok()) {
+  while (ros1_node.ok() && rclcpp::ok()) {
     executor.spin_node_once(ros2_node, std::chrono::milliseconds(1000));
   }