refactor: adjust macro for readability

moveit · Jan 8, 2025 · d6f6c38 · d6f6c38
1 parent 8f5c586
commit d6f6c38
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
@@ -118,13 +118,14 @@ void PointCloudOctomapUpdater::start()
   rclcpp::SubscriptionOptions options;
   options.callback_group = node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
   /* subscribe to point cloud topic using tf filter*/
-  point_cloud_subscriber_ = new message_filters::Subscriber<sensor_msgs::msg::PointCloud2>(node_, point_cloud_topic_,
+  rclcpp::QoS qos_profile =
 #if RCLCPP_VERSION_GTE(28, 3, 0)
-                                                                                           rclcpp::SensorDataQoS(),
+      rclcpp::SensorDataQoS();
 #else
-                                                                                           rmw_qos_profile_sensor_data,
+      rmw_qos_profile_sensor_data;
 #endif
-                                                                                           options);
+  point_cloud_subscriber_ =
+      new message_filters::Subscriber<sensor_msgs::msg::PointCloud2>(node_, point_cloud_topic_, qos_profile, options);
   if (tf_listener_ && tf_buffer_ && !monitor_->getMapFrame().empty())
   {
     point_cloud_filter_ = new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>(