From afdf304e0c114cff3ca14df303f942c35bc895e3 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 17 Apr 2023 13:47:10 +0200 Subject: [PATCH] change std pointer to normal pointer --- src/beacon_positioning/src/tracker_position.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/beacon_positioning/src/tracker_position.cpp b/src/beacon_positioning/src/tracker_position.cpp index a26fc89f..83f2acd1 100644 --- a/src/beacon_positioning/src/tracker_position.cpp +++ b/src/beacon_positioning/src/tracker_position.cpp @@ -42,7 +42,7 @@ public: 500ms, std::bind(&BeaconPositioningPublisher::timer_callback, this)); } - void setup_rtlsdevice(std::shared_ptr rtls_device, int priority, int label, int update_time, int network_id, bool long_message) + void setup_rtlsdevice(terabee::RtlsDevice *rtls_device, int priority, int label, int update_time, int network_id, bool long_message) { rtls_device->disableTrackerStream(); serial_port->flushInput(); @@ -108,7 +108,7 @@ int main(int argc, char **argv) std::shared_ptr node = std::make_shared(); executor.add_node(node); terabee::RtlsDevice rtls_device(node->get_serial_port()); - node->setup_rtlsdevice(std::make_shared(rtls_device), 1, 0x1ABE, 1, 0xC0FE, true); + node->setup_rtlsdevice(&rtls_device, 1, 0x1ABE, 1, 0xC0FE, true); rtls_device.registerOnDistanceDataCaptureCallback([&node](const terabee::RtlsDevice::tracker_msg_t &tracker_msg) { @@ -123,7 +123,7 @@ int main(int argc, char **argv) { RCLCPP_ERROR(node->get_logger(), "invalid tracker position"); } }); - + executor.spin(); rtls_device.startReadingStream(); rclcpp::shutdown();