make_unique vs make_shared

edit

Hi,

I am not sure it matters a lot. Actually when using tf inside a node you can also not use pointers at all. You just have to initialize the constructors of buffer and listener in the member initializer list.

class MyNode : public rclcpp::Node
{
public:
    MyNode(rclcpp::NodeOptions options)
        : Node("the_name", options), tf_buffer(get_clock()), tf_listener(tf_buffer)
    {
    // constructor
    }

private:

// TF 2 stuff
tf2_ros::Buffer tf_buffer; // order matters, buffer has to be built before listener
tf2_ros::TransformListener tf_listener;

}

You can even do it in the member variable declaration:

class MyNode : public rclcpp::Node
{
public:
    MyNode(rclcpp::NodeOptions options)
        : Node("the_name", options)
    {
    // constructor
    }

private:

// TF 2 stuff
tf2_ros::Buffer tf_buffer{get_clock()};
tf2_ros::TransformListener tf_listener{tf_buffer};

}