Change all shared_ptr references to shared_ptr (#2976)

* Change all shared_ptr references to shared_ptr * Update simple_smoother.cpp Co-authored-by: Steve Macenski <[email protected]>
ros-navigation · May 31, 2022 · 4d596b9 · 4d596b9
1 parent 80d7d0a
commit 4d596b9
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Showing 13 changed files with 32 additions and 32 deletions.
diff --git a/nav2_constrained_smoother/include/nav2_constrained_smoother/constrained_smoother.hpp b/nav2_constrained_smoother/include/nav2_constrained_smoother/constrained_smoother.hpp
@@ -58,9 +58,9 @@ class ConstrainedSmoother : public nav2_core::Smoother
    */
   void configure(
     const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
-    std::string name, const std::shared_ptr<tf2_ros::Buffer> & tf,
-    const std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> & costmap_sub,
-    const std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> & footprint_sub) override;
+    std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
+    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub,
+    std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub) override;
 
   /**
    * @brief Cleanup controller state machine

diff --git a/nav2_constrained_smoother/src/constrained_smoother.cpp b/nav2_constrained_smoother/src/constrained_smoother.cpp
@@ -40,9 +40,9 @@ namespace nav2_constrained_smoother
 
 void ConstrainedSmoother::configure(
   const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
-  std::string name, const std::shared_ptr<tf2_ros::Buffer> & tf,
-  const std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> & costmap_sub,
-  const std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> &)
+  std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
+  std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub,
+  std::shared_ptr<nav2_costmap_2d::FootprintSubscriber>)
 {
   auto node = parent.lock();
   if (!node) {

diff --git a/nav2_core/include/nav2_core/controller.hpp b/nav2_core/include/nav2_core/controller.hpp
@@ -74,8 +74,8 @@ class Controller
    */
   virtual void configure(
     const rclcpp_lifecycle::LifecycleNode::WeakPtr &,
-    std::string name, const std::shared_ptr<tf2_ros::Buffer> &,
-    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> &) = 0;
+    std::string name, std::shared_ptr<tf2_ros::Buffer>,
+    std::shared_ptr<nav2_costmap_2d::Costmap2DROS>) = 0;
 
   /**
    * @brief Method to cleanup resources.

diff --git a/nav2_core/include/nav2_core/smoother.hpp b/nav2_core/include/nav2_core/smoother.hpp
@@ -47,9 +47,9 @@ class Smoother
 
   virtual void configure(
     const rclcpp_lifecycle::LifecycleNode::WeakPtr &,
-    std::string name, const std::shared_ptr<tf2_ros::Buffer> &,
-    const std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> &,
-    const std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> &) = 0;
+    std::string name, std::shared_ptr<tf2_ros::Buffer>,
+    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber>,
+    std::shared_ptr<nav2_costmap_2d::FootprintSubscriber>) = 0;
 
   /**
    * @brief Method to cleanup resources.

diff --git a/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp b/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp
@@ -68,8 +68,8 @@ class DWBLocalPlanner : public nav2_core::Controller
 
   void configure(
     const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
-    std::string name, const std::shared_ptr<tf2_ros::Buffer> & tf,
-    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros) override;
+    std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
+    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
   virtual ~DWBLocalPlanner() {}
 

diff --git a/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp b/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp
@@ -67,8 +67,8 @@ DWBLocalPlanner::DWBLocalPlanner()
 
 void DWBLocalPlanner::configure(
   const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
-  std::string name, const std::shared_ptr<tf2_ros::Buffer> & tf,
-  const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros)
+  std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
+  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
 {
   node_ = parent;
   auto node = node_.lock();

diff --git a/...ller/include/nav2_regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.hpp b/...ller/include/nav2_regulated_pure_pursuit_controller/regulated_pure_pursuit_controller.hpp
@@ -60,8 +60,8 @@ class RegulatedPurePursuitController : public nav2_core::Controller
    */
   void configure(
     const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
-    std::string name, const std::shared_ptr<tf2_ros::Buffer> & tf,
-    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros) override;
+    std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
+    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
   /**
    * @brief Cleanup controller state machine

diff --git a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
@@ -40,8 +40,8 @@ namespace nav2_regulated_pure_pursuit_controller
 
 void RegulatedPurePursuitController::configure(
   const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
-  std::string name, const std::shared_ptr<tf2_ros::Buffer> & tf,
-  const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros)
+  std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
+  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
 {
   auto node = parent.lock();
   node_ = parent;

diff --git a/...n_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp b/...n_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp
@@ -61,8 +61,8 @@ class RotationShimController : public nav2_core::Controller
    */
   void configure(
     const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
-    std::string name, const std::shared_ptr<tf2_ros::Buffer> & tf,
-    const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros) override;
+    std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
+    std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override;
 
   /**
    * @brief Cleanup controller state machine

diff --git a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
@@ -35,8 +35,8 @@ RotationShimController::RotationShimController()
 
 void RotationShimController::configure(
   const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
-  std::string name, const std::shared_ptr<tf2_ros::Buffer> & tf,
-  const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros)
+  std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
+  std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
 {
   plugin_name_ = name;
   node_ = parent;

diff --git a/nav2_smoother/include/nav2_smoother/simple_smoother.hpp b/nav2_smoother/include/nav2_smoother/simple_smoother.hpp
@@ -67,9 +67,9 @@ class SimpleSmoother : public nav2_core::Smoother
 
   void configure(
     const rclcpp_lifecycle::LifecycleNode::WeakPtr &,
-    std::string name, const std::shared_ptr<tf2_ros::Buffer> &,
-    const std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> &,
-    const std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> &) override;
+    std::string name, std::shared_ptr<tf2_ros::Buffer>,
+    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber>,
+    std::shared_ptr<nav2_costmap_2d::FootprintSubscriber>) override;
 
   /**
    * @brief Method to cleanup resources.

diff --git a/nav2_smoother/src/simple_smoother.cpp b/nav2_smoother/src/simple_smoother.cpp
@@ -24,9 +24,9 @@ using nav2_util::declare_parameter_if_not_declared;
 
 void SimpleSmoother::configure(
   const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
-  std::string name, const std::shared_ptr<tf2_ros::Buffer> & /*tf*/,
-  const std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> & costmap_sub,
-  const std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> & /*footprint_sub*/)
+  std::string name, std::shared_ptr<tf2_ros::Buffer>/*tf*/,
+  std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_sub,
+  std::shared_ptr<nav2_costmap_2d::FootprintSubscriber>/*footprint_sub*/)
 {
   costmap_sub_ = costmap_sub;
 

diff --git a/nav2_smoother/test/test_smoother_server.cpp b/nav2_smoother/test/test_smoother_server.cpp
@@ -48,9 +48,9 @@ class DummySmoother : public nav2_core::Smoother
 
   virtual void configure(
     const rclcpp_lifecycle::LifecycleNode::WeakPtr &,
-    std::string, const std::shared_ptr<tf2_ros::Buffer> &,
-    const std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> &,
-    const std::shared_ptr<nav2_costmap_2d::FootprintSubscriber> &) {}
+    std::string, std::shared_ptr<tf2_ros::Buffer>,
+    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber>,
+    std::shared_ptr<nav2_costmap_2d::FootprintSubscriber>) {}
 
   virtual void cleanup() {}