From 7b304866d3bf384c23a6af1506cd1d3e2e1a0e1a Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Thu, 25 May 2023 12:12:14 +0200
Subject: [PATCH] fix pointer

---
 src/drone_controls/src/PositionChanger.cpp | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/drone_controls/src/PositionChanger.cpp b/src/drone_controls/src/PositionChanger.cpp
index 8da28b2c..5bfa5838 100644
--- a/src/drone_controls/src/PositionChanger.cpp
+++ b/src/drone_controls/src/PositionChanger.cpp
@@ -39,15 +39,15 @@ public:
         rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
         auto qos = rclcpp::QoS(rclcpp::QoSInitialization(qos_profile.history, 5), qos_profile);
 
-        lidar_subscription = this->create_subscription<drone_services::msg::LidarReading>("/drone/object_detection", qos, std::bind(&PositionChanger::handle_lidar_message, this,std::placeholders::_1));
+        this->lidar_subscription = this->create_subscription<drone_services::msg::LidarReading>("/drone/object_detection", qos, std::bind(&PositionChanger::handle_lidar_message, this,std::placeholders::_1));
         
         // vehicle_local_position_subscription_ = this->create_subscription<px4_msgs::msg::VehicleLocalPosition>("/fmu/out/vehicle_local_position", qos, std::bind(&PX4Controller::on_local_position_receive, this, std::placeholders::_1));
-        odometry_subscription = this->create_subscription<px4_msgs::msg::VehicleOdometry>("/fmu/out/vehicle_odometry", qos, std::bind(&PositionChanger::handle_odometry_message, this, std::placeholders::_1));        
-        move_position_service = this->create_service<drone_services::srv::MovePosition>("/drone/move_position", std::bind(&PositionChanger::handle_move_position_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+        this->odometry_subscription = this->create_subscription<px4_msgs::msg::VehicleOdometry>("/fmu/out/vehicle_odometry", qos, std::bind(&PositionChanger::handle_odometry_message, this, std::placeholders::_1));        
+        this->move_position_service = this->create_service<drone_services::srv::MovePosition>("/drone/move_position", std::bind(&PositionChanger::handle_move_position_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+
+        this->trajectory_client = this->create_client<drone_services::srv::SetTrajectory>("/drone/set_trajectory");
+        this->vehicle_control_client = this->create_client<drone_services::srv::SetVehicleControl>("/drone/set_vehicle_control");
 
-        trajectory_client = this->create_client<drone_services::srv::SetTrajectory>("/drone/set_trajectory");
-        vehicle_control_client = this->create_client<drone_services::srv::SetVehicleControl>("/drone/set_vehicle_control");
-        
         RCLCPP_INFO(this->get_logger(), "waiting for trajectory service...");
         wait_for_service<rclcpp::Client<drone_services::srv::SetTrajectory>::SharedPtr>(this->trajectory_client);
         RCLCPP_INFO(this->get_logger(), "waiting for vehicle control service...");
@@ -185,8 +185,8 @@ public:
     }
 
 private:
-    rclcpp::Subscription<drone_services::msg::LidarReading> lidar_subscription;
-    rclcpp::Subscription<px4_msgs::msg::VehicleOdometry> odometry_subscription;
+    rclcpp::Subscription<drone_services::msg::LidarReading>::SharedPtr lidar_subscription;
+    rclcpp::Subscription<px4_msgs::msg::VehicleOdometry>::SharedPtr odometry_subscription;
 
     rclcpp::Client<drone_services::srv::SetTrajectory>::SharedPtr trajectory_client;
     rclcpp::Client<drone_services::srv::SetVehicleControl>::SharedPtr vehicle_control_client;