From 7c6a2a5a38709fe9aa31acdb443d7490f78f8cfe Mon Sep 17 00:00:00 2001
From: Aditya Ardiya <aditya.ardiya@gmail.com>
Date: Sat, 19 Nov 2022 03:39:32 +0900
Subject: [PATCH] Avoid redundant boost::make_shared copy in
 pcl_ros::Publisher<PointT> (#380)

`boost make_shared` is actually making a copy. This PR introduces the `sensor_msgs::PointCloud2` as pointer directly so that it doesn't need a `boost::make_shared` convertsion to pointer anymore.
---
 pcl_ros/include/pcl_ros/publisher.hpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/pcl_ros/include/pcl_ros/publisher.hpp b/pcl_ros/include/pcl_ros/publisher.hpp
index 4de04e8f..9f92745f 100644
--- a/pcl_ros/include/pcl_ros/publisher.hpp
+++ b/pcl_ros/include/pcl_ros/publisher.hpp
@@ -114,9 +114,9 @@ public:
   publish(const pcl::PointCloud<PointT> & point_cloud) const
   {
     // Fill point cloud binary data
-    sensor_msgs::PointCloud2 msg;
-    pcl::toROSMsg(point_cloud, msg);
-    pub_.publish(boost::make_shared<const sensor_msgs::PointCloud2>(msg));
+    sensor_msgs::PointCloud2::Ptr msg_ptr(new sensor_msgs::PointCloud2);
+    pcl::toROSMsg(point_cloud, *msg_ptr);
+    pub_.publish(msg_ptr);
   }
 };