replace switch of callback type via ROS distro check with template type

Author: christian-rauch

orbbec_camera/CMakeLists.txt

@@ -14,12 +14,6 @@ option(USE_NV_HW_DECODER "Use Nvidia hardware decoder" OFF)
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds)
 endif()
-# Check if ROS Jazzy or iron is installed
-if("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
-    add_compile_definitions(ROS_JAZZY)
-elseif("$ENV{ROS_DISTRO}" STREQUAL "iron")
-    add_compile_definitions(ROS_IRON)
-endif()
 
 # find dependencies
 set(dependencies

orbbec_camera/include/orbbec_camera/ros_param_backend.h

@@ -22,13 +22,11 @@ class ParametersBackend {
  public:
   explicit ParametersBackend(rclcpp::Node* node);
   ~ParametersBackend();
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
-  void addOnSetParametersCallback(
-      rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback);
-#else
-  void addOnSetParametersCallback(
-      rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
-#endif
+
+  template <typename T>
+  void addOnSetParametersCallback(T callback) {
+    ros_callback_ = node_->add_on_set_parameters_callback(callback);
+  }
 
  private:
   rclcpp::Node* node_;

orbbec_camera/src/ros_param_backend.cpp

@@ -26,16 +26,5 @@ ParametersBackend::~ParametersBackend() {
     ros_callback_.reset();
   }
 }
-#if defined(ROS_JAZZY) || defined(ROS_IRON)
-void ParametersBackend::addOnSetParametersCallback(
-    rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback) {
-  ros_callback_ = node_->add_on_set_parameters_callback(callback);
-}
-#else
-void ParametersBackend::addOnSetParametersCallback(
-    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback) {
-  ros_callback_ = node_->add_on_set_parameters_callback(callback);
-}
-#endif
 
 }  // namespace orbbec_camera