From 48cae46960db88e3895bd4d1c8b239b96eef7380 Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Mon, 22 Sep 2025 14:50:52 +0800
Subject: [PATCH] refactor(navigation): Update ChannelSubscriberPtr to use
 specific message type

- Changed ChannelSubscriberPtr to ChannelSubscriberPtr<std_msgs::msg::dds_::String_> for slamInfo and slamKeyInfo in navigation.hpp and navigation.cpp.
- Updated initialization of subscribers to reflect the new type specification.
---
 include/navigation.hpp | 4 ++--
 src/navigation.cpp     | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/include/navigation.hpp b/include/navigation.hpp
index 420ff83..5b2b94e 100644
--- a/include/navigation.hpp
+++ b/include/navigation.hpp
@@ -83,8 +83,8 @@ private:
     void slamInfoHandler(const void *message);
     void slamKeyInfoHandler(const void *message);
 
-    unitree::robot::ChannelSubscriberPtr subSlamInfo;
-    unitree::robot::ChannelSubscriberPtr subSlamKeyInfo;
+    unitree::robot::ChannelSubscriberPtr<std_msgs::msg::dds_::String_> subSlamInfo;
+    unitree::robot::ChannelSubscriberPtr<std_msgs::msg::dds_::String_> subSlamKeyInfo;
 
     poseDate currentPose;
     bool is_arrived = false;
diff --git a/src/navigation.cpp b/src/navigation.cpp
index 179f615..c5c7765 100644
--- a/src/navigation.cpp
+++ b/src/navigation.cpp
@@ -4,12 +4,12 @@
 namespace custom {
 
 Navigation::Navigation() : unitree::robot::Client(SLAM_SERVICE_NAME) {
-    subSlamInfo = unitree::robot::ChannelSubscriberPtr(
+    subSlamInfo = unitree::robot::ChannelSubscriberPtr<std_msgs::msg::dds_::String_>(
         new unitree::robot::ChannelSubscriber<std_msgs::msg::dds_::String_>(SlamInfoTopic));
     subSlamInfo->InitChannel(
         std::bind(&Navigation::slamInfoHandler, this, std::placeholders::_1), 1);
     
-    subSlamKeyInfo = unitree::robot::ChannelSubscriberPtr(
+    subSlamKeyInfo = unitree::robot::ChannelSubscriberPtr<std_msgs::msg::dds_::String_>(
         new unitree::robot::ChannelSubscriber<std_msgs::msg::dds_::String_>(SlamKeyInfoTopic));
     subSlamKeyInfo->InitChannel(
         std::bind(&Navigation::slamKeyInfoHandler, this, std::placeholders::_1), 1);