From 0924bdd50a89326ea0e68bd95f3fce4c42842640 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Fri, 19 Jul 2024 15:11:51 +0200
Subject: [PATCH] Fix deprecation warning

---
 .../src/pointcloud_octomap_updater.cpp                         | 3 +--
 1 file changed, 1 insertion(+), 2 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
index 6e2b8678d87..2cfb19b74ae 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
+++ b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
@@ -96,7 +96,6 @@ void PointCloudOctomapUpdater::start()
   if (!ns_.empty())
     prefix = ns_ + "/";
 
-  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_sensor_data));
   if (!filtered_cloud_topic_.empty())
   {
     filtered_cloud_publisher_ =
@@ -107,7 +106,7 @@ void PointCloudOctomapUpdater::start()
     return;
   /* subscribe to point cloud topic using tf filter*/
   point_cloud_subscriber_ = new message_filters::Subscriber<sensor_msgs::msg::PointCloud2>(node_, point_cloud_topic_,
-                                                                                           rmw_qos_profile_sensor_data);
+                                                                                           rclcpp::SensorDataQoS());
   if (tf_listener_ && tf_buffer_ && !monitor_->getMapFrame().empty())
   {
     point_cloud_filter_ = new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>(