♻️ Geometry msgs lambda refactor

turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp

@@ -42,42 +42,40 @@ class FramePublisher : public rclcpp::Node
     stream << "/" << turtlename_.c_str() << "/pose";
     std::string topic_name = stream.str();
 
-    subscription_ = this->create_subscription<turtlesim::msg::Pose>(
-      topic_name, 10,
-      std::bind(&FramePublisher::handle_turtle_pose, this, std::placeholders::_1));
-  }
+    auto handle_turtle_pose = [this](const std::shared_ptr<turtlesim::msg::Pose> msg){
+        geometry_msgs::msg::TransformStamped t;
 
-private:
-  void handle_turtle_pose(const std::shared_ptr<turtlesim::msg::Pose> msg)
-  {
-    geometry_msgs::msg::TransformStamped t;
+        // Read message content and assign it to
+        // corresponding tf variables
+        t.header.stamp = this->get_clock()->now();
+        t.header.frame_id = "world";
+        t.child_frame_id = turtlename_.c_str();
 
-    // Read message content and assign it to
-    // corresponding tf variables
-    t.header.stamp = this->get_clock()->now();
-    t.header.frame_id = "world";
-    t.child_frame_id = turtlename_.c_str();
+        // Turtle only exists in 2D, thus we get x and y translation
+        // coordinates from the message and set the z coordinate to 0
+        t.transform.translation.x = msg->x;
+        t.transform.translation.y = msg->y;
+        t.transform.translation.z = 0.0;
 
-    // Turtle only exists in 2D, thus we get x and y translation
-    // coordinates from the message and set the z coordinate to 0
-    t.transform.translation.x = msg->x;
-    t.transform.translation.y = msg->y;
-    t.transform.translation.z = 0.0;
+        // For the same reason, turtle can only rotate around one axis
+        // and this why we set rotation in x and y to 0 and obtain
+        // rotation in z axis from the message
+        tf2::Quaternion q;
+        q.setRPY(0, 0, msg->theta);
+        t.transform.rotation.x = q.x();
+        t.transform.rotation.y = q.y();
+        t.transform.rotation.z = q.z();
+        t.transform.rotation.w = q.w();
 
-    // For the same reason, turtle can only rotate around one axis
-    // and this why we set rotation in x and y to 0 and obtain
-    // rotation in z axis from the message
-    tf2::Quaternion q;
-    q.setRPY(0, 0, msg->theta);
-    t.transform.rotation.x = q.x();
-    t.transform.rotation.y = q.y();
-    t.transform.rotation.z = q.z();
-    t.transform.rotation.w = q.w();
-
-    // Send the transformation
-    tf_broadcaster_->sendTransform(t);
+        // Send the transformation
+        tf_broadcaster_->sendTransform(t);
+    };
+    subscription_ = this->create_subscription<turtlesim::msg::Pose>(
+      topic_name, 10,
+      handle_turtle_pose);
   }
 
+private:
   rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr subscription_;
   std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
   std::string turtlename_;

turtle_tf2_cpp/src/turtle_tf2_listener.cpp

@@ -53,7 +53,7 @@ class FrameListener : public rclcpp::Node
 
     // Call on_timer function every second
     timer_ = this->create_wall_timer(
-      1s, std::bind(&FrameListener::on_timer, this));
+      1s, [this](){return this->on_timer();});
   }
 
 private:
@@ -104,10 +104,10 @@ class FrameListener : public rclcpp::Node
         // Initialize request with turtle name and coordinates
         // Note that x, y and theta are defined as floats in turtlesim/srv/Spawn
         auto request = std::make_shared<turtlesim::srv::Spawn::Request>();
-        request->name = "turtle2";
         request->x = 4.0;
         request->y = 2.0;
         request->theta = 0.0;
+        request->name = "turtle2";
 
         // Call request
         using ServiceResponseFuture =