[drake_ros] Use modern drake::systems::Event API (#292)

As of Drake v1.20, the old API is deprecated.
RobotLocomotion · Aug 15, 2023 · 381424a · 381424a
1 parent 656bbc7
commit 381424a
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Showing 2 changed files with 15 additions and 19 deletions.
diff --git a/drake_ros/core/ros_publisher_system.cc b/drake_ros/core/ros_publisher_system.cc
@@ -67,11 +67,7 @@ RosPublisherSystem::RosPublisherSystem(
 
   if (publish_triggers.find(drake::systems::TriggerType::kPerStep) !=
       publish_triggers.end()) {
-    DeclarePerStepEvent(drake::systems::PublishEvent<double>(
-        [this](const drake::systems::Context<double>& context,
-               const drake::systems::PublishEvent<double>&) {
-          PublishInput(context);
-        }));
+    this->DeclarePerStepPublishEvent(&RosPublisherSystem::PublishInput);
   }
   // ^^^ Mostly copied from LcmPublisherSystem ^^^
 }

diff --git a/drake_ros/core/ros_subscriber_system.cc b/drake_ros/core/ros_subscriber_system.cc
@@ -88,20 +88,20 @@ void RosSubscriberSystem::DoCalcNextUpdateTime(
 
   // Create a unrestricted event and tie the handler to the corresponding
   // function.
-  drake::systems::UnrestrictedUpdateEvent<double>::UnrestrictedUpdateCallback
-      callback = [this, serialized_message{std::move(message)}](
-                     const drake::systems::Context<double>&,
-                     const drake::systems::UnrestrictedUpdateEvent<double>&,
-                     drake::systems::State<double>* state) {
-        // Deserialize the message and store it in the abstract state on the
-        // context
-        drake::systems::AbstractValues& abstract_state =
-            state->get_mutable_abstract_state();
-        auto& abstract_value =
-            abstract_state.get_mutable_value(impl_->message_state_index);
-        impl_->serializer->Deserialize(*serialized_message, &abstract_value);
-        return drake::systems::EventStatus::Succeeded();
-      };
+  auto callback = [this, serialized_message{std::move(message)}](
+                      const drake::systems::System<double>&,
+                      const drake::systems::Context<double>&,
+                      const drake::systems::UnrestrictedUpdateEvent<double>&,
+                      drake::systems::State<double>* state) {
+    // Deserialize the message and store it in the abstract state on the
+    // context
+    drake::systems::AbstractValues& abstract_state =
+        state->get_mutable_abstract_state();
+    auto& abstract_value =
+        abstract_state.get_mutable_value(impl_->message_state_index);
+    impl_->serializer->Deserialize(*serialized_message, &abstract_value);
+    return drake::systems::EventStatus::Succeeded();
+  };
 
   // Schedule an update event at the current time.
   *time = context.get_time();