From d6201453ae70d2f67d62c79b226eac165ecbe0bc Mon Sep 17 00:00:00 2001
From: William Woodall <william@osrfoundation.org>
Date: Tue, 7 May 2019 02:17:49 -0700
Subject: [PATCH] fixing lifecycle subscription signatures

Signed-off-by: William Woodall <william@osrfoundation.org>
---
 .../include/rclcpp_lifecycle/lifecycle_node.hpp             | 6 +++---
 rclcpp_lifecycle/test/test_lifecycle_node.cpp               | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
index d5f77c8125..39a4c80ad8 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -227,7 +227,7 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
     typename Alloc = std::allocator<void>,
     typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
   [[deprecated(
-    "use create_subscription(const std::string &, CallbackT, const rclcpp::QoS &, ...) instead"
+    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
   )]]
   std::shared_ptr<SubscriptionT>
   create_subscription(
@@ -262,14 +262,14 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
     typename Alloc = std::allocator<void>,
     typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
   [[deprecated(
-    "use create_subscription(const std::string &, CallbackT, const rclcpp::QoS &, ...) instead"
+    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
   )]]
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
     size_t qos_history_depth,
     CallbackT && callback,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group,
     bool ignore_local_publications = false,
     typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
       typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
diff --git a/rclcpp_lifecycle/test/test_lifecycle_node.cpp b/rclcpp_lifecycle/test/test_lifecycle_node.cpp
index 1df5f43a7f..1ce941cad2 100644
--- a/rclcpp_lifecycle/test/test_lifecycle_node.cpp
+++ b/rclcpp_lifecycle/test/test_lifecycle_node.cpp
@@ -218,7 +218,7 @@ TEST_F(TestDefaultStateMachine, lifecycle_subscriber) {
 
   auto cb = [](const std::shared_ptr<lifecycle_msgs::msg::State> msg) {(void) msg;};
   auto lifecycle_sub =
-    test_node->create_subscription<lifecycle_msgs::msg::State>("~/empty", cb, 10);
+    test_node->create_subscription<lifecycle_msgs::msg::State>("~/empty", 10, cb);
 
   SUCCEED();
 }