- revert using lambda, it cause a crash so leave it with std::function for now

Author: alonfaraj

ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp

@@ -163,25 +163,25 @@ void AirsimROSWrapper::create_ros_pubs_from_settings_json()
 
             // bind to a single callback. todo optimal subs queue length
             // bind multiple topics to a single callback, but keep track of which vehicle name it was by passing curr_vehicle_name as the 2nd argument
-            drone->vel_cmd_body_frame_sub_ = nh_->create_subscription<airsim_interfaces::msg::VelCmd>(topic_prefix + "/vel_cmd_body_frame", 1, [&](const airsim_interfaces::msg::VelCmd::SharedPtr msg) { this->vel_cmd_body_frame_cb(msg, vehicle_ros->vehicle_name_); }); // todo ros::TransportHints().tcpNoDelay();
 
-            drone->vel_cmd_world_frame_sub_ = nh_->create_subscription<airsim_interfaces::msg::VelCmd>(topic_prefix + "/vel_cmd_world_frame", 1, [&](const airsim_interfaces::msg::VelCmd::SharedPtr msg) { this->vel_cmd_world_frame_cb(msg, vehicle_ros->vehicle_name_); });
+            std::function<void(const airsim_interfaces::msg::VelCmd::SharedPtr)> fcn_vel_cmd_body_frame_sub = std::bind(&AirsimROSWrapper::vel_cmd_body_frame_cb, this, _1, vehicle_ros->vehicle_name_);
+            drone->vel_cmd_body_frame_sub_ = nh_->create_subscription<airsim_interfaces::msg::VelCmd>(topic_prefix + "/vel_cmd_body_frame", 1, fcn_vel_cmd_body_frame_sub); // todo ros::TransportHints().tcpNoDelay();
 
-            drone->takeoff_srvr_ = nh_->create_service<airsim_interfaces::srv::Takeoff>(topic_prefix + "/takeoff",
-                                                                                        [&](std::shared_ptr<airsim_interfaces::srv::Takeoff::Request> request,
-                                                                                            std::shared_ptr<airsim_interfaces::srv::Takeoff::Response>
-                                                                                                response) { this->takeoff_srv_cb(request, response, vehicle_ros->vehicle_name_); });
+            std::function<void(const airsim_interfaces::msg::VelCmd::SharedPtr)> fcn_vel_cmd_world_frame_sub = std::bind(&AirsimROSWrapper::vel_cmd_world_frame_cb, this, _1, vehicle_ros->vehicle_name_);
+            drone->vel_cmd_world_frame_sub_ = nh_->create_subscription<airsim_interfaces::msg::VelCmd>(topic_prefix + "/vel_cmd_world_frame", 1, fcn_vel_cmd_world_frame_sub);
 
-            drone->land_srvr_ = nh_->create_service<airsim_interfaces::srv::Land>(topic_prefix + "/land",
-                                                                                  [&](std::shared_ptr<airsim_interfaces::srv::Land::Request> request,
-                                                                                      std::shared_ptr<airsim_interfaces::srv::Land::Response>
-                                                                                          response) { this->land_srv_cb(request, response, vehicle_ros->vehicle_name_); });
+            std::function<bool(std::shared_ptr<airsim_interfaces::srv::Takeoff::Request>, std::shared_ptr<airsim_interfaces::srv::Takeoff::Response>)> fcn_takeoff_srvr = std::bind(&AirsimROSWrapper::takeoff_srv_cb, this, _1, _2, vehicle_ros->vehicle_name_);
+            drone->takeoff_srvr_ = nh_->create_service<airsim_interfaces::srv::Takeoff>(topic_prefix + "/takeoff", fcn_takeoff_srvr);
+
+            std::function<bool(std::shared_ptr<airsim_interfaces::srv::Land::Request>, std::shared_ptr<airsim_interfaces::srv::Land::Response>)> fcn_land_srvr = std::bind(&AirsimROSWrapper::land_srv_cb, this, _1, _2, vehicle_ros->vehicle_name_);
+            drone->land_srvr_ = nh_->create_service<airsim_interfaces::srv::Land>(topic_prefix + "/land", fcn_land_srvr);
 
             // vehicle_ros.reset_srvr = nh_->create_service(curr_vehicle_name + "/reset",&AirsimROSWrapper::reset_srv_cb, this);
         }
         else {
             auto car = static_cast<CarROS*>(vehicle_ros.get());
-            car->car_cmd_sub_ = nh_->create_subscription<airsim_interfaces::msg::CarControls>(topic_prefix + "/car_cmd", 1, [&](const airsim_interfaces::msg::CarControls::SharedPtr msg) { this->car_cmd_cb(msg, vehicle_ros->vehicle_name_); });
+            std::function<void(const airsim_interfaces::msg::CarControls::SharedPtr)> fcn_car_cmd_sub = std::bind(&AirsimROSWrapper::car_cmd_cb, this, _1, vehicle_ros->vehicle_name_);
+            car->car_cmd_sub_ = nh_->create_subscription<airsim_interfaces::msg::CarControls>(topic_prefix + "/car_cmd", 1, fcn_car_cmd_sub);
             car->car_state_pub_ = nh_->create_publisher<airsim_interfaces::msg::CarState>(topic_prefix + "/car_state", 10);
         }