use rclcpp type support helpers instead of rosbag2_cpp ones

Signed-off-by: Dominik Authaler <dominik.authaler@uni-ulm.de>

Author: authaldo

src/DataLoadROS2/dataload_ros2.cpp

@@ -17,7 +17,6 @@
 #include <rosidl_typesupport_introspection_cpp/message_introspection.hpp>
 #include <rosidl_typesupport_introspection_cpp/field_types.hpp>
 #include <rosidl_typesupport_cpp/identifier.hpp>
-#include <rosbag2_cpp/typesupport_helpers.hpp>
 #include <rosbag2_cpp/types/introspection_message.hpp>
 #include <unordered_map>
 #include <rclcpp/rclcpp.hpp>

src/TopicPublisherROS2/generic_publisher.h

@@ -48,8 +48,9 @@ class GenericPublisher : public rclcpp::PublisherBase
   static std::shared_ptr<GenericPublisher> create(rclcpp::Node& node, const std::string& topic_name,
                                                   const std::string& topic_type)
   {
-    auto library = std::move(rosbag2_cpp::get_typesupport_library(topic_type, "rosidl_typesupport_cpp"));
-    auto type_support = rosbag2_cpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", library);
+  
+   auto library = std::move(rclcpp::get_typesupport_library(topic_type, "rosidl_typesupport_cpp"));
+   auto type_support = rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *library);
 
     return std::make_shared<GenericPublisher>(node.get_node_base_interface().get(), topic_name, *type_support);
   }

src/ros_parsers/ros2_parser.cpp

@@ -41,11 +41,11 @@ std::string CreateSchema(const std::string& base_type)
   std::set<std::string> secondary_types_pending;
   std::set<std::string> secondary_types_done;
 
-  auto addTypeToSchema = [&](const std::string& type_name, bool add_header) {
-    auto introspection_library =
-        rosbag2_cpp::get_typesupport_library(type_name, "rosidl_typesupport_introspection_cpp");
-    auto introspection_support =
-        rosbag2_cpp::get_typesupport_handle(type_name, "rosidl_typesupport_introspection_cpp", introspection_library);
+  auto addTypeToSchema = [&](const std::string& type_name, bool add_header)
+  {
+    auto introspection_library = rclcpp::get_typesupport_library(type_name, "rosidl_typesupport_introspection_cpp");
+    auto introspection_support = rclcpp::get_typesupport_handle(type_name, "rosidl_typesupport_introspection_cpp",
+                                                                *introspection_library);
 
     if (add_header)
     {
@@ -147,13 +147,13 @@ TopicInfo CreateTopicInfo(const std::string& topic_name, const std::string& type
   info.topic_name = topic_name;
   info.type = type_name;
 
-  info.introspection_library = rosbag2_cpp::get_typesupport_library(type_name, "rosidl_typesupport_introspection_cpp");
-  info.introspection_support = rosbag2_cpp::get_typesupport_handle(type_name, "rosidl_typesupport_introspection_cpp",
-                                                                   info.introspection_library);
+  info.introspection_library = rclcpp::get_typesupport_library(type_name, "rosidl_typesupport_introspection_cpp");
+  info.introspection_support = rclcpp::get_typesupport_handle(type_name, "rosidl_typesupport_introspection_cpp",
+                                                              *info.introspection_library);
 
-  auto identifier = rosidl_typesupport_cpp::typesupport_identifier;
-  info.support_library = rosbag2_cpp::get_typesupport_library(type_name, identifier);
-  info.type_support = rosbag2_cpp::get_typesupport_handle(type_name, identifier, info.support_library);
+  auto identifier   = rosidl_typesupport_cpp::typesupport_identifier;
+  info.support_library = rclcpp::get_typesupport_library(type_name, identifier);
+  info.type_support = rclcpp::get_typesupport_handle(type_name, identifier, *info.support_library);
 
   info.has_header_stamp = TypeHasHeader(info.introspection_support);
   return info;

src/ros_parsers/ros2_parser.h

@@ -3,7 +3,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rmw/rmw.h"
 #include "rmw/types.h"
-#include "rosbag2_cpp/typesupport_helpers.hpp"
+#include "rclcpp/typesupport_helpers.hpp"
 #include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
 
 #include <PlotJuggler/plotdata.h>