Fix: adjust for changed heartbeat::Publisher API.

107-systems · Jun 28, 2023 · 380a72b · 380a72b
1 parent c087463
commit 380a72b
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/include/ros2_cyphal_bridge/Node.h b/include/ros2_cyphal_bridge/Node.h
@@ -27,7 +27,7 @@
 #include <std_msgs/msg/u_int64.hpp>
 #include <std_msgs/msg/u_int16_multi_array.hpp>
 
-#include <ros2_heartbeat/Publisher.h>
+#include <ros2_heartbeat/publisher/Publisher.h>
 #include <ros2_loop_rate_monitor/Monitor.h>
 
 #include "CanManager.h"
@@ -62,7 +62,6 @@ class Node : public rclcpp::Node
 
   std::chrono::steady_clock::time_point const _node_start;
 
-  static std::chrono::milliseconds constexpr HEARTBEAT_LOOP_RATE{100};
   heartbeat::Publisher::SharedPtr _heartbeat_pub;
   void init_heartbeat();
 

diff --git a/src/Node.cpp b/src/Node.cpp
@@ -92,7 +92,7 @@ void Node::init_heartbeat()
   std::stringstream heartbeat_topic;
   heartbeat_topic << "/l3xz/" << get_name() << "/heartbeat";
 
-  _heartbeat_pub = heartbeat::Publisher::create(*this, heartbeat_topic.str(), HEARTBEAT_LOOP_RATE);
+  _heartbeat_pub = heartbeat::Publisher::create(*this, heartbeat_topic.str());
 }
 
 void Node::init_cyphal_heartbeat()