From 0b60e529145f2c878224a9c830185ca1d242299a Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Fri, 7 Aug 2026 14:03:56 -0700
Subject: [PATCH] Fixing TransformBroadcaster *this on rolling (#1443)

---
 rtabmap_odom/src/OdometryROS.cpp        | 2 +-
 rtabmap_slam/src/CoreWrapper.cpp        | 2 +-
 rtabmap_util/src/nodelets/db_player.cpp | 2 +-
 rtabmap_util/src/nodelets/imu_to_tf.cpp | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/rtabmap_odom/src/OdometryROS.cpp b/rtabmap_odom/src/OdometryROS.cpp
index bc34b042..5a270c75 100644
--- a/rtabmap_odom/src/OdometryROS.cpp
+++ b/rtabmap_odom/src/OdometryROS.cpp
@@ -127,7 +127,7 @@ OdometryROS::OdometryROS(const std::string & name, const rclcpp::NodeOptions & o
 
 	tfBuffer_ = std::make_shared<tf2_ros::Buffer>(get_clock());
 	tfListener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer_);
-	tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
+	tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(*this);
 
 	std::string initialPoseStr;
 	frameId_ = this->declare_parameter("frame_id", frameId_);
diff --git a/rtabmap_slam/src/CoreWrapper.cpp b/rtabmap_slam/src/CoreWrapper.cpp
index d7b8aad0..e36b40aa 100644
--- a/rtabmap_slam/src/CoreWrapper.cpp
+++ b/rtabmap_slam/src/CoreWrapper.cpp
@@ -160,7 +160,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
 
 	tfBuffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
 	tfListener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer_);
-	tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
+	tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(*this);
 
 	bool publishTf = true;
 	std::string initialPoseStr;
diff --git a/rtabmap_util/src/nodelets/db_player.cpp b/rtabmap_util/src/nodelets/db_player.cpp
index a78ca5fa..167af087 100644
--- a/rtabmap_util/src/nodelets/db_player.cpp
+++ b/rtabmap_util/src/nodelets/db_player.cpp
@@ -159,7 +159,7 @@ DbPlayer::DbPlayer(const rclcpp::NodeOptions & options) :
     resumeSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "resume", std::bind(&DbPlayer::resumeCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
 
     if(publishTf) {
-        tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
+        tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(*this);
     }
 
     if(publishClock)
diff --git a/rtabmap_util/src/nodelets/imu_to_tf.cpp b/rtabmap_util/src/nodelets/imu_to_tf.cpp
index 48c1db40..9234e03c 100644
--- a/rtabmap_util/src/nodelets/imu_to_tf.cpp
+++ b/rtabmap_util/src/nodelets/imu_to_tf.cpp
@@ -41,7 +41,7 @@ ImuToTF::ImuToTF(const rclcpp::NodeOptions & options) :
 {
 	tfBuffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
 	tfListener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer_);
-	tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
+	tfBroadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(*this);
 
 	int qos = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
 	fixedFrameId_ = this->declare_parameter("fixed_frame_id", fixedFrameId_);