From 985f3b75539ec08a78db69c9f8f2505d3d0c2e40 Mon Sep 17 00:00:00 2001
From: doronhi <doron_hirshberg@hotmail.com>
Date: Wed, 29 Aug 2018 15:42:25 +0300
Subject: [PATCH] create wrapper class PipelineSyncer to work around
 librealsense 2.16 feature, removing operator() from class
 asynchronous_syncer.

---
 realsense2_camera/include/base_realsense_node.h | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h
index 317b71dded..a3831d546b 100644
--- a/realsense2_camera/include/base_realsense_node.h
+++ b/realsense2_camera/include/base_realsense_node.h
@@ -51,6 +51,15 @@ namespace realsense2_camera
     };
     typedef std::pair<image_transport::Publisher, std::shared_ptr<FrequencyDiagnostics>> ImagePublisherWithFrequencyDiagnostics;
 
+	class PipelineSyncer : public rs2::asynchronous_syncer
+	{
+	public: 
+		void operator()(rs2::frame f) const
+		{
+			invoke(std::move(f));
+		}
+	};
+
     class BaseRealSenseNode : public InterfaceRealSenseNode
     {
     public:
@@ -160,7 +169,7 @@ namespace realsense2_camera
         bool _align_depth;
         bool _sync_frames;
         bool _pointcloud;
-        rs2::asynchronous_syncer _syncer;
+		PipelineSyncer _syncer;
 
         std::map<stream_index_pair, cv::Mat> _depth_aligned_image;
         std::map<stream_index_pair, std::string> _depth_aligned_encoding;