Use get_package_share_path

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

Author: ahcorde

README.md

@@ -38,7 +38,7 @@ Take a look at my_publisher.cpp
 #include <point_cloud_transport/point_cloud_transport.hpp>
 
 // for reading rosbag
-#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <ament_index_cpp/get_package_share_path.hpp>
 #include <rclcpp/serialization.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rosbag2_cpp/reader.hpp>
@@ -59,7 +59,7 @@ int main(int argc, char ** argv)
   point_cloud_transport::Publisher pub = pct.advertise("pct/point_cloud", 100);
 
   const std::string bagged_cloud_topic = "/point_cloud";
-  const std::string shared_directory = ament_index_cpp::get_package_share_directory(
+  const std::string shared_directory = ament_index_cpp::get_package_share_path(
     "point_cloud_transport_tutorial");
   const std::string bag_file = shared_directory + "/resources/rosbag2_2023_08_05-16_08_51";
 

src/my_encoder.cpp

@@ -27,7 +27,7 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <ament_index_cpp/get_package_share_path.hpp>
 #include <rclcpp/serialization.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rosbag2_cpp/reader.hpp>
@@ -48,9 +48,9 @@ int main(int /*argc*/, char ** /*argv*/)
   RCLCPP_INFO(logger_, "Using transport: %s", transport.c_str());
 
   const std::string bagged_cloud_topic = "/point_cloud";
-  std::filesystem::path shared_directory;
-  ament_index_cpp::get_package_share_directory("point_cloud_transport_tutorial", shared_directory);
-  const std::filesystem::path bag_file = shared_directory / "resources" /
+  const std::filesystem::path bag_file =
+    ament_index_cpp::get_package_share_path("point_cloud_transport_tutorial") /
+    "resources" /
     "rosbag2_2023_08_05-16_08_51";
 
   // boiler-plate to tell rosbag2 how to read our bag

src/my_publisher.cpp

@@ -34,7 +34,7 @@
 #include <string>
 
 // for reading rosbag
-#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <ament_index_cpp/get_package_share_path.hpp>
 
 #include <point_cloud_transport/point_cloud_transport.hpp>
 #include <rclcpp/serialization.hpp>
@@ -59,10 +59,8 @@ int main(int argc, char ** argv)
 
   const std::string bagged_cloud_topic = "/point_cloud";
   std::filesystem::path shared_directory;
-  ament_index_cpp::get_package_share_directory(
-    "point_cloud_transport_tutorial",
-    shared_directory);
-  std::filesystem::path bag_file = shared_directory / "resources" /
+  std::filesystem::path bag_file =
+    ament_index_cpp::get_package_share_path("point_cloud_transport_tutorial") / "resources" /
     "rosbag2_2023_08_05-16_08_51";
 
   if (argc > 1) {