Pass rcl_serialized_msg pointer properly

Signed-off-by: Abrar Rahman Protyasha <[email protected]>

Author: aprotyas

src/domain_bridge/domain_bridge.cpp

@@ -191,7 +191,9 @@ class DomainBridgeImpl
             compressed_msg.data = domain_bridge::compress_message(cctx, std::move(*msg));
             rclcpp::SerializedMessage serialized_compressed_msg;
             serializer.serialize_message(&compressed_msg, &serialized_compressed_msg);
-            publisher->publish(serialized_compressed_msg.get_rcl_serialized_message());
+            auto serialized_data_ptr = std::make_shared<rcl_serialized_message_t>(
+              serialized_compressed_msg.get_rcl_serialized_message());
+            publisher->publish(serialized_data_ptr);
           };
         break;
       case DomainBridgeOptions::Mode::Decompress:
@@ -206,14 +208,18 @@ class DomainBridgeImpl
             serializer.deserialize_message(serialized_compressed_msg.get(), &compressed_msg);
             rclcpp::SerializedMessage msg = domain_bridge::decompress_message(
               dctx, std::move(compressed_msg.data));
-            publisher->publish(msg.get_rcl_serialized_message());
+            auto serialized_data_ptr = std::make_shared<rcl_serialized_message_t>(
+              msg.get_rcl_serialized_message());
+            publisher->publish(serialized_data_ptr);
           };
         break;
       default:  // fallthrough
       case DomainBridgeOptions::Mode::Normal:
         callback = [publisher](std::shared_ptr<rclcpp::SerializedMessage> msg) {
             // Publish message into the other domain
-            publisher->publish(msg->get_rcl_serialized_message());
+            auto serialized_data_ptr = std::make_shared<rcl_serialized_message_t>(
+              msg->get_rcl_serialized_message());
+            publisher->publish(serialized_data_ptr);
           };
         break;
     }
@@ -233,10 +239,7 @@ class DomainBridgeImpl
       *rosidl_typesupport_cpp::get_message_type_support_handle<domain_bridge::msg::CompressedMsg>(),
       topic_name,
       qos,
-      [publisher](std::shared_ptr<rclcpp::SerializedMessage> msg) {
-        // Publish message into the other domain
-        publisher->publish(msg->get_rcl_serialized_message());
-      });
+      callback);
     node->get_node_topics_interface()->add_subscription(subscription, std::move(group));
     return subscription;
   }

src/domain_bridge/generic_publisher.cpp

@@ -42,10 +42,10 @@ GenericPublisher::GenericPublisher(
 : rclcpp::PublisherBase(node_base, topic_name, type_support, rosbag2_get_publisher_options(qos))
 {}
 
-void GenericPublisher::publish(const rmw_serialized_message_t & message)
+void GenericPublisher::publish(std::shared_ptr<rmw_serialized_message_t> message)
 {
   auto return_code = rcl_publish_serialized_message(
-    get_publisher_handle().get(), &message, nullptr);
+    get_publisher_handle().get(), message.get(), NULL);
 
   if (return_code != RCL_RET_OK) {
     rclcpp::exceptions::throw_from_rcl_error(return_code, "failed to publish serialized message");

src/domain_bridge/generic_publisher.hpp

@@ -38,7 +38,7 @@ class GenericPublisher : public rclcpp::PublisherBase
 
   virtual ~GenericPublisher() = default;
 
-  void publish(const rmw_serialized_message_t & message);
+  void publish(std::shared_ptr<rmw_serialized_message_t> message);
 };
 
 }  // namespace domain_bridge