From 452494d15e9309bd92cd13c65d01dff3dfff00fc Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Mon, 5 Jun 2023 22:29:08 +0000
Subject: [PATCH] fix TopicInfo depcrecation warnings

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 src/plugins/image_display/ImageDisplay.cc |  3 ++-
 src/plugins/navsat_map/NavSatMap.cc       |  3 ++-
 src/plugins/point_cloud/PointCloud.cc     |  3 ++-
 src/plugins/topic_viewer/TopicViewer.cc   | 14 ++++++++------
 4 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/src/plugins/image_display/ImageDisplay.cc b/src/plugins/image_display/ImageDisplay.cc
index dea75893c..e3ee17c8e 100644
--- a/src/plugins/image_display/ImageDisplay.cc
+++ b/src/plugins/image_display/ImageDisplay.cc
@@ -265,7 +265,8 @@ void ImageDisplay::OnRefresh()
   for (auto topic : allTopics)
   {
     std::vector<transport::MessagePublisher> publishers;
-    this->dataPtr->node.TopicInfo(topic, publishers);
+    std::vector<transport::MessagePublisher> subscribers;
+    this->dataPtr->node.TopicInfo(topic, publishers, subscribers);
     for (auto pub : publishers)
     {
       if (pub.MsgTypeName() == "gz.msgs.Image")
diff --git a/src/plugins/navsat_map/NavSatMap.cc b/src/plugins/navsat_map/NavSatMap.cc
index 6f3f8f558..f1a8b22b7 100644
--- a/src/plugins/navsat_map/NavSatMap.cc
+++ b/src/plugins/navsat_map/NavSatMap.cc
@@ -156,7 +156,8 @@ void NavSatMap::OnRefresh()
   for (auto topic : allTopics)
   {
     std::vector<transport::MessagePublisher> publishers;
-    this->dataPtr->node.TopicInfo(topic, publishers);
+    std::vector<transport::MessagePublisher> subscribers;
+    this->dataPtr->node.TopicInfo(topic, publishers, subscribers);
     for (auto pub : publishers)
     {
       if (pub.MsgTypeName() == "gz.msgs.NavSat")
diff --git a/src/plugins/point_cloud/PointCloud.cc b/src/plugins/point_cloud/PointCloud.cc
index f5a27cbf8..328b06616 100644
--- a/src/plugins/point_cloud/PointCloud.cc
+++ b/src/plugins/point_cloud/PointCloud.cc
@@ -236,7 +236,8 @@ void PointCloud::OnRefresh()
   for (auto topic : allTopics)
   {
     std::vector<gz::transport::MessagePublisher> publishers;
-    this->dataPtr->node.TopicInfo(topic, publishers);
+    std::vector<gz::transport::MessagePublisher> subscribers;
+    this->dataPtr->node.TopicInfo(topic, publishers, subscribers);
     for (auto pub : publishers)
     {
       if (pub.MsgTypeName() == "gz.msgs.PointCloudPacked")
diff --git a/src/plugins/topic_viewer/TopicViewer.cc b/src/plugins/topic_viewer/TopicViewer.cc
index 6064fa998..4e7ee8b3a 100644
--- a/src/plugins/topic_viewer/TopicViewer.cc
+++ b/src/plugins/topic_viewer/TopicViewer.cc
@@ -199,9 +199,10 @@ void TopicViewerPrivate::CreateModel()
 
   for (unsigned int i = 0; i < topics.size(); ++i)
   {
-    std::vector<transport::MessagePublisher> infoMsgs;
-    this->node.TopicInfo(topics[i], infoMsgs);
-    std::string msgType = infoMsgs[0].MsgTypeName();
+    std::vector<transport::MessagePublisher> publishers;
+    std::vector<transport::MessagePublisher> subscribers;
+    this->node.TopicInfo(topics[i], publishers, subscribers);
+    std::string msgType = publishers[0].MsgTypeName();
     this->AddTopic(topics[i], msgType);
   }
 }
@@ -384,9 +385,10 @@ void TopicViewer::UpdateModel()
   for (unsigned int i = 0; i < topics.size(); ++i)
   {
     // get the msg type
-    std::vector<transport::MessagePublisher> infoMsgs;
-    this->dataPtr->node.TopicInfo(topics[i], infoMsgs);
-    std::string msgType = infoMsgs[0].MsgTypeName();
+    std::vector<transport::MessagePublisher> publishers;
+    std::vector<transport::MessagePublisher> subscribers;
+    this->dataPtr->node.TopicInfo(topics[i], publishers, subscribers);
+    std::string msgType = publishers[0].MsgTypeName();
 
     // skip the matched topics
     if (this->dataPtr->currentTopics.count(topics[i]) &&