From 584dd91e8f134e5404138712043e16ad500fae06 Mon Sep 17 00:00:00 2001 From: Alejandro Hernandez Cordero Date: Tue, 16 Sep 2025 14:58:42 +0200 Subject: [PATCH] Removed rclcpp::spin_some deprecation warning Signed-off-by: Alejandro Hernandez Cordero --- README.md | 7 +++++-- src/my_publisher.cpp | 5 ++++- 2 files changed, 9 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 8e331d1..28ee675 100644 --- a/README.md +++ b/README.md @@ -52,6 +52,9 @@ int main(int argc, char ** argv) auto node = std::make_shared("point_cloud_publisher"); + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node); + point_cloud_transport::PointCloudTransport pct(node); point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100); @@ -83,7 +86,7 @@ int main(int argc, char ** argv) cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg); // publish the message pub.publish(cloud_msg); - rclcpp::spin_some(node); + executor.spin_some(); rclcpp::sleep_for(std::chrono::milliseconds(100)); } } @@ -121,7 +124,7 @@ Publishes sensor_msgs::PointCloud2 message from the specified rosbag: // publish the message pub.publish(cloud_msg); // spin the node... - rclcpp::spin_some(node); + executor.spin_some(); // repeat... ``` diff --git a/src/my_publisher.cpp b/src/my_publisher.cpp index e0dc04c..529e016 100644 --- a/src/my_publisher.cpp +++ b/src/my_publisher.cpp @@ -51,6 +51,9 @@ int main(int argc, char ** argv) auto node = std::make_shared("point_cloud_publisher"); + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(node); + point_cloud_transport::PointCloudTransport pct(*node); point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100); @@ -93,7 +96,7 @@ int main(int argc, char ** argv) cloud_serialization.deserialize_message(&extracted_serialized_msg, &cloud_msg); // publish the message pub.publish(cloud_msg); - rclcpp::spin_some(node); + executor.spin_some(); rclcpp::sleep_for(std::chrono::milliseconds(100)); } }