raw pointer

Signed-off-by: Guillaume Doisy <guillaume@dexory.com>

nav2_costmap_2d/include/nav2_costmap_2d/costmap_topic_collision_checker.hpp

@@ -99,7 +99,7 @@ class CostmapTopicCollisionChecker
   // Name used for logging
   std::string name_;
   CostmapSubscriber & costmap_sub_;
-  std::shared_ptr<FootprintSubscriber> footprint_sub_;
+  FootprintSubscriber * footprint_sub_ = nullptr;
   FootprintCollisionChecker<std::shared_ptr<Costmap2D>> collision_checker_;
   rclcpp::Clock::SharedPtr clock_;
   Footprint footprint_;

nav2_costmap_2d/src/costmap_topic_collision_checker.cpp

@@ -42,15 +42,15 @@
   collision_checker_(nullptr)
 {}
 
 CostmapTopicCollisionChecker::CostmapTopicCollisionChecker(
   CostmapSubscriber & costmap_sub,
   std::string footprint_string,
   std::string name)
 : name_(name),
   costmap_sub_(costmap_sub),
   collision_checker_(nullptr)
 {
   makeFootprintFromString(footprint_string, footprint_);
 }
 
 bool CostmapTopicCollisionChecker::isCollisionFree(
@@ -104,9 +104,9 @@
 
     // if footprint_sub_ was not initialized (alternative constructor), we are using the
     // footprint built from the footprint_string alternative constructor argument.
-    if (footprint_sub_) {
+    if (footprint_sub_ != nullptr) {
       if (!footprint_sub_->getFootprintInRobotFrame(footprint_, header)) {
         throw CollisionCheckerException("Current footprint not available.");
       }
     }
   }