Refine fuse_echo

Signed-off-by: methylDragon <[email protected]>

fuse_core/src/fuse_echo.cpp

@@ -50,8 +50,7 @@ namespace fuse_core
 class FuseEcho : public rclcpp::Node
 {
 public:
-  explicit FuseEcho(rclcpp::NodeOptions options):
-    Node("fuse_echo", options)
+  explicit FuseEcho(rclcpp::NodeOptions options): Node("fuse_echo", options)
   {
     // Subscribe to the constraint topic
     graph_subscriber_ = this->create_subscription<fuse_msgs::msg::SerializedGraph>(
@@ -72,20 +71,20 @@ class FuseEcho : public rclcpp::Node
   rclcpp::Subscription<fuse_msgs::msg::SerializedGraph>::SharedPtr graph_subscriber_;
   rclcpp::Subscription<fuse_msgs::msg::SerializedTransaction>::SharedPtr transaction_subscriber_;
 
-  void graphCallback(const fuse_msgs::msg::SerializedGraph::SharedPtr msg)
+  void graphCallback(const fuse_msgs::msg::SerializedGraph& msg)
   {
     std::cout << "-------------------------" << std::endl;
     std::cout << "GRAPH:" << std::endl;
-    std::cout << "received at: " << rclcpp::Clock().now().seconds() << std::endl;
+    std::cout << "received at: " << this->now().seconds() << std::endl;
     auto graph = graph_deserializer_.deserialize(msg);
     graph->print();
   }
 
-  void transactionCallback(const fuse_msgs::msg::SerializedTransaction::SharedPtr msg)
+  void transactionCallback(const fuse_msgs::msg::SerializedTransaction& msg)
   {
     std::cout << "-------------------------" << std::endl;
     std::cout << "TRANSACTION:" << std::endl;
-    std::cout << "received at: " << rclcpp::Clock().now().seconds() << std::endl;
+    std::cout << "received at: " << this->now().seconds() << std::endl;
     auto transaction = transaction_deserializer_.deserialize(msg);
     transaction.print();
   }
@@ -103,4 +102,4 @@ int main(int argc, char **argv)
 }
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(fuse_core::FuseEcho)
+RCLCPP_COMPONENTS_REGISTER_NODE(fuse_core::FuseEcho)