Removed deprecated warnings

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

Author: ahcorde

src/my_publisher.cpp

@@ -51,7 +51,26 @@ int main(int argc, char ** argv)
 
   auto node = std::make_shared<rclcpp::Node>("point_cloud_publisher");
 
-  point_cloud_transport::PointCloudTransport pct(node);
+  std::shared_ptr<rclcpp::node_interfaces::NodeInterfaces<
+      rclcpp::node_interfaces::NodeBaseInterface,
+      rclcpp::node_interfaces::NodeParametersInterface,
+      rclcpp::node_interfaces::NodeTopicsInterface,
+      rclcpp::node_interfaces::NodeLoggingInterface
+    >> node_interfaces = std::make_shared<
+    rclcpp::node_interfaces::NodeInterfaces<
+      rclcpp::node_interfaces::NodeBaseInterface,
+      rclcpp::node_interfaces::NodeParametersInterface,
+      rclcpp::node_interfaces::NodeTopicsInterface,
+      rclcpp::node_interfaces::NodeLoggingInterface
+    >
+    >(
+        node->get_node_base_interface(),
+        node->get_node_parameters_interface(),
+        node->get_node_topics_interface(),
+        node->get_node_logging_interface()
+    );
+
+  point_cloud_transport::PointCloudTransport pct(node_interfaces);
   point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);
 
   const std::string bagged_cloud_topic = "/point_cloud";

src/my_subscriber.cpp

@@ -36,18 +36,37 @@ int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
   auto node = std::make_shared<rclcpp::Node>("point_cloud_subscriber");
+  std::shared_ptr<rclcpp::node_interfaces::NodeInterfaces<
+      rclcpp::node_interfaces::NodeBaseInterface,
+      rclcpp::node_interfaces::NodeParametersInterface,
+      rclcpp::node_interfaces::NodeTopicsInterface,
+      rclcpp::node_interfaces::NodeLoggingInterface
+    >> node_interfaces = std::make_shared<
+    rclcpp::node_interfaces::NodeInterfaces<
+      rclcpp::node_interfaces::NodeBaseInterface,
+      rclcpp::node_interfaces::NodeParametersInterface,
+      rclcpp::node_interfaces::NodeTopicsInterface,
+      rclcpp::node_interfaces::NodeLoggingInterface
+    >
+    >(
+        node->get_node_base_interface(),
+        node->get_node_parameters_interface(),
+        node->get_node_topics_interface(),
+        node->get_node_logging_interface()
+    );
 
-  point_cloud_transport::PointCloudTransport pct(node);
+  point_cloud_transport::PointCloudTransport pct(node_interfaces);
   point_cloud_transport::Subscriber pct_sub = pct.subscribe(
     "pct/point_cloud", 100,
-    [node](const sensor_msgs::msg::PointCloud2::ConstSharedPtr & msg)
+    [node_interfaces](const sensor_msgs::msg::PointCloud2::ConstSharedPtr & msg)
     {
       RCLCPP_INFO_STREAM(
-        node->get_logger(),
+        node_interfaces->get_node_logging_interface()->get_logger(),
         "Message received, number of points is: " << msg->width * msg->height);
     }, {});
 
-  RCLCPP_INFO_STREAM(node->get_logger(), "Waiting for point_cloud message...");
+  RCLCPP_INFO_STREAM(node_interfaces->get_node_logging_interface()->get_logger(),
+    "Waiting for point_cloud message...");
 
   rclcpp::spin(node);