Hello,

If we compare the TF2 static broadcaster tutorial to the TF2 broadcaster tutorial, the broadcaster in the former takes this as an argument, while the latter takes *this:

f_static_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);

tf_broadcaster_ =  std::make_unique<tf2_ros::TransformBroadcaster>(*this);

I tried to add and remove the * and it turns out that both compile and run fine, with and without the *.

In contrast, other code does specifically require a pointer, e.g. the action server tutorial does not compile if this is changed to *this:

this->action_server_ = rclcpp_action::create_server<Fibonacci>(
  this,
  "fibonacci",
  std::bind(&FibonacciActionServer::handle_goal, this, _1, _2),
  std::bind(&FibonacciActionServer::handle_cancel, this, _1),
  std::bind(&FibonacciActionServer::handle_accepted, this, _1));

Is there some specific rationale wrt to choosing to pass either a pointer or an object? And how to know which functions take what? Since both the TransformBroadcaster as well as the create_server functions take a template class NodeT (so afaik not distinguishable whether this could/should be an object or a pointer?).