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Updated deprecated ament_index_cpp API #18

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Updated deprecated ament_index_cpp API #18

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9 changes: 5 additions & 4 deletions src/my_encoder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,13 +48,14 @@ int main(int /*argc*/, char ** /*argv*/)
RCLCPP_INFO(logger_, "Using transport: %s", transport.c_str());

const std::string bagged_cloud_topic = "/point_cloud";
const std::string shared_directory = ament_index_cpp::get_package_share_directory(
"point_cloud_transport_tutorial");
const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";
std::filesystem::path shared_directory;
ament_index_cpp::get_package_share_directory("point_cloud_transport_tutorial", shared_directory);
const std::filesystem::path bag_file = shared_directory / "resources" /
"rosbag2_2023_08_05-16_08_51";

// boiler-plate to tell rosbag2 how to read our bag
rosbag2_storage::StorageOptions storage_options;
storage_options.uri = bag_file;
storage_options.uri = bag_file.string();
storage_options.storage_id = "mcap";
rosbag2_cpp::ConverterOptions converter_options;
converter_options.input_serialization_format = "cdr";
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