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Use get_package_share_path #21

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Merged
ahcorde merged 1 commit into from
Mar 17, 2026
Merged

Use get_package_share_path #21

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4 changes: 2 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ Take a look at my_publisher.cpp
#include <point_cloud_transport/point_cloud_transport.hpp>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <ament_index_cpp/get_package_share_path.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
Expand All @@ -59,7 +59,7 @@ int main(int argc, char ** argv)
point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);

const std::string bagged_cloud_topic = "/point_cloud";
const std::string shared_directory = ament_index_cpp::get_package_share_directory(
const std::string shared_directory = ament_index_cpp::get_package_share_path(
"point_cloud_transport_tutorial");
const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";

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8 changes: 4 additions & 4 deletions src/my_encoder.cpp
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Expand Up @@ -27,7 +27,7 @@
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

#include <ament_index_cpp/get_package_share_directory.hpp>
#include <ament_index_cpp/get_package_share_path.hpp>
#include <rclcpp/serialization.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rosbag2_cpp/reader.hpp>
Expand All @@ -48,9 +48,9 @@ int main(int /*argc*/, char ** /*argv*/)
RCLCPP_INFO(logger_, "Using transport: %s", transport.c_str());

const std::string bagged_cloud_topic = "/point_cloud";
std::filesystem::path shared_directory;
ament_index_cpp::get_package_share_directory("point_cloud_transport_tutorial", shared_directory);
const std::filesystem::path bag_file = shared_directory / "resources" /
const std::filesystem::path bag_file =
ament_index_cpp::get_package_share_path("point_cloud_transport_tutorial") /
"resources" /
"rosbag2_2023_08_05-16_08_51";

// boiler-plate to tell rosbag2 how to read our bag
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8 changes: 3 additions & 5 deletions src/my_publisher.cpp
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Expand Up @@ -34,7 +34,7 @@
#include <string>

// for reading rosbag
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <ament_index_cpp/get_package_share_path.hpp>

#include <point_cloud_transport/point_cloud_transport.hpp>
#include <rclcpp/serialization.hpp>
Expand All @@ -59,10 +59,8 @@ int main(int argc, char ** argv)

const std::string bagged_cloud_topic = "/point_cloud";
std::filesystem::path shared_directory;
ament_index_cpp::get_package_share_directory(
"point_cloud_transport_tutorial",
shared_directory);
std::filesystem::path bag_file = shared_directory / "resources" /
std::filesystem::path bag_file =
ament_index_cpp::get_package_share_path("point_cloud_transport_tutorial") / "resources" /
"rosbag2_2023_08_05-16_08_51";

if (argc > 1) {
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