(roseus_bt) Use CopyDocument in remote subscriber

jsk-ros-pkg · Oct 23, 2022 · 6fcf2b7 · 6fcf2b7
1 parent 87f0415
commit 6fcf2b7
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Showing 2 changed files with 4 additions and 8 deletions.
diff --git a/roseus_bt/include/roseus_bt/eus_remote_action_node.h b/roseus_bt/include/roseus_bt/eus_remote_action_node.h
@@ -102,8 +102,6 @@ class EusRemoteActionNode : public BT::ActionNodeBase
   }
 
   // port related
-  // TODO: avoid unnecessary dumping & parsing
-  // cannot use rapidjson::Value directly because it is not `CopyConstructible'
   // TODO: translate to ROS message: how to loop through slots?
 
   void feedbackCallback(std::shared_ptr<WsClient::Connection> connection,

diff --git a/roseus_bt/include/roseus_bt/eus_remote_subscriber_node.h b/roseus_bt/include/roseus_bt/eus_remote_subscriber_node.h
@@ -4,6 +4,7 @@
 #include <behaviortree_cpp_v3/action_node.h>
 #include <behaviortree_cpp_v3/bt_factory.h>
 #include <roseus_bt/ws_subscriber_client.h>
+#include <roseus_bt/copy_document.h>
 
 namespace BT
 {
@@ -34,7 +35,7 @@ class EusRemoteSubscriberNode: public BT::ActionNodeBase
   static PortsList providedPorts() {
     return {
       InputPort<std::string>("topic_name", "name of the subscribed topic"),
-      OutputPort<std::string>("output_port", "port to where messages are redirected"),
+      OutputPort<rapidjson::CopyDocument>("output_port", "port to where messages are redirected"),
       OutputPort<uint8_t>("received_port", "port set to true every time a message is received"),
       InputPort<std::string>("host_name", "name of the rosbridge_server host"),
       InputPort<int>("host_port", "port of the rosbridge_server host")
@@ -76,12 +77,9 @@ class EusRemoteSubscriberNode: public BT::ActionNodeBase
 
   void setOutputFromMessage(const std::string& name, const rapidjson::Value& message)
   {
-    rapidjson::StringBuffer strbuf;
-    rapidjson::Writer<rapidjson::StringBuffer> writer(strbuf);
-    rapidjson::Document document;
+    rapidjson::CopyDocument document;
     document.CopyFrom(message, document.GetAllocator());
-    document.Accept(writer);
-    setOutput(name, strbuf.GetString());
+    setOutput(name, document);
   }
 };