shared to unique ptr

SteveMacenski · SteveMacenski · commit da53aa2812f9 · 2024-01-03T17:00:39.000-08:00
Signed-off-by: Steve Macenski &lt;stevenmacenski@gmail.com&gt;
diff --git a/nav2_behaviors/include/nav2_behaviors/plugins/assisted_teleop.hpp b/nav2_behaviors/include/nav2_behaviors/plugins/assisted_teleop.hpp
@@ -99,7 +99,7 @@ class AssistedTeleop : public TimedBehavior<AssistedTeleopAction>
   bool preempt_teleop_{false};
 
   // subscribers
-  std::shared_ptr<nav2_util::TwistSubscriber> vel_sub_;
+  std::unique_ptr<nav2_util::TwistSubscriber> vel_sub_;
   rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr preempt_teleop_sub_;
 
   rclcpp::Duration command_time_allowance_{0, 0};
diff --git a/nav2_behaviors/plugins/assisted_teleop.cpp b/nav2_behaviors/plugins/assisted_teleop.cpp
@@ -50,8 +50,7 @@ void AssistedTeleop::onConfigure()
   std::string cmd_vel_teleop;
   node->get_parameter("cmd_vel_teleop", cmd_vel_teleop);
 
-
-  vel_sub_ = std::make_shared<nav2_util::TwistSubscriber>(
+  vel_sub_ = std::make_unique<nav2_util::TwistSubscriber>(
     node,
     cmd_vel_teleop, rclcpp::SystemDefaultsQoS(),
     [&](geometry_msgs::msg::Twist::SharedPtr msg) {
