[ros-users] How to get copy of message using MessageEvent callback?

[Josh Faust]

>
>
>    const control_mode_statusPtr& msg = event.getMessage(); // this is line
> 172
>

You're assigning to a pointer from a const pointer, which is not allowed.
 If you want a mutable copy you can subscribe with
MessageEvent<control_mode_status> instead of
MessageEvent<control_mode_status const>.  You can also make a copy manually.


> void controlModesStatusCallback(control_mode_status msg)
>  {
>
>    string publisher_name = (*(msg.__connection_header))["callerid"];
>    ROS_INFO_STREAM("Got control mode status, from: " << publisher_name);
>    latest_mode_status[node_mode_map[publisher_name]] = msg;
>  }
>
> .. is there any issue with using this?
>

__connection_header has been deprecated for a while, and will cease to exist
in a future version of roscpp.

Josh
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