[drake_ros] Use modern drake::systems::Event API

As of Drake v1.20, the old API is deprecated.
RobotLocomotion · Aug 14, 2023 · a09719a · a09719a
1 parent 656bbc7
commit a09719a
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Showing 2 changed files with 6 additions and 10 deletions.
diff --git a/drake_ros/core/ros_publisher_system.cc b/drake_ros/core/ros_publisher_system.cc
@@ -67,11 +67,7 @@ RosPublisherSystem::RosPublisherSystem(
 
   if (publish_triggers.find(drake::systems::TriggerType::kPerStep) !=
       publish_triggers.end()) {
-    DeclarePerStepEvent(drake::systems::PublishEvent<double>(
-        [this](const drake::systems::Context<double>& context,
-               const drake::systems::PublishEvent<double>&) {
-          PublishInput(context);
-        }));
+    this->DeclarePerStepPublishEvent(&RosPublisherSystem::PublishInput);
   }
   // ^^^ Mostly copied from LcmPublisherSystem ^^^
 }

diff --git a/drake_ros/core/ros_subscriber_system.cc b/drake_ros/core/ros_subscriber_system.cc
@@ -88,11 +88,11 @@ void RosSubscriberSystem::DoCalcNextUpdateTime(
 
   // Create a unrestricted event and tie the handler to the corresponding
   // function.
-  drake::systems::UnrestrictedUpdateEvent<double>::UnrestrictedUpdateCallback
-      callback = [this, serialized_message{std::move(message)}](
-                     const drake::systems::Context<double>&,
-                     const drake::systems::UnrestrictedUpdateEvent<double>&,
-                     drake::systems::State<double>* state) {
+  auto callback = [this, serialized_message{std::move(message)}](
+                      const drake::systems::System<double>&,
+                      const drake::systems::Context<double>&,
+                      const drake::systems::UnrestrictedUpdateEvent<double>&,
+                      drake::systems::State<double>* state) {
         // Deserialize the message and store it in the abstract state on the
         // context
         drake::systems::AbstractValues& abstract_state =