From a78044e6b65a3e52e49cf75a61531f071fb9f4ac Mon Sep 17 00:00:00 2001
From: Kenji Brameld <kenjibrameld@gmail.com>
Date: Sun, 21 Aug 2022 07:31:40 +0900
Subject: [PATCH] bring non-deprecated code before deprecated code

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
---
 zbar_ros/include/zbar_ros/barcode_reader_node.hpp |  2 +-
 zbar_ros/src/barcode_reader_node.cpp              | 14 +++++++-------
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/zbar_ros/include/zbar_ros/barcode_reader_node.hpp b/zbar_ros/include/zbar_ros/barcode_reader_node.hpp
index a80b4fb..76f2822 100644
--- a/zbar_ros/include/zbar_ros/barcode_reader_node.hpp
+++ b/zbar_ros/include/zbar_ros/barcode_reader_node.hpp
@@ -53,8 +53,8 @@ class BarcodeReaderNode : public rclcpp::Node
   void cleanCb();
 
   rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr camera_sub_;
-  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr barcode_pub_;  // DEPRECATED
   rclcpp::Publisher<zbar_ros_interfaces::msg::Symbol>::SharedPtr symbol_pub_;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr barcode_pub_;  // DEPRECATED
   zbar::ImageScanner scanner_;
 
   rclcpp::TimerBase::SharedPtr clean_timer_;
diff --git a/zbar_ros/src/barcode_reader_node.cpp b/zbar_ros/src/barcode_reader_node.cpp
index b4f7977..8ef023e 100644
--- a/zbar_ros/src/barcode_reader_node.cpp
+++ b/zbar_ros/src/barcode_reader_node.cpp
@@ -47,8 +47,8 @@ BarcodeReaderNode::BarcodeReaderNode()
   camera_sub_ = this->create_subscription<sensor_msgs::msg::Image>(
     "image", 10, std::bind(&BarcodeReaderNode::imageCb, this, std::placeholders::_1));
 
-  barcode_pub_ = this->create_publisher<std_msgs::msg::String>("barcode", 10);
   symbol_pub_ = this->create_publisher<zbar_ros_interfaces::msg::Symbol>("symbol", 10);
+  barcode_pub_ = this->create_publisher<std_msgs::msg::String>("barcode", 10);
 
   throttle_ = this->declare_parameter<double>("throttle_repeated_barcodes", 0.0);
   RCLCPP_DEBUG(get_logger(), "throttle_repeated_barcodes : %f", throttle_);
@@ -96,7 +96,7 @@ void BarcodeReaderNode::imageCb(sensor_msgs::msg::Image::ConstSharedPtr image)
       if (throttle_ > 0.0) {
         const std::lock_guard<std::mutex> lock(memory_mutex_);
 
-        std::string barcode = symbol.data;
+        const std::string & barcode = symbol.data;
         // check if barcode has been recorded as seen, and skip detection
         if (barcode_memory_.count(barcode) > 0) {
           // check if time reached to forget barcode
@@ -115,15 +115,15 @@ void BarcodeReaderNode::imageCb(sensor_msgs::msg::Image::ConstSharedPtr image)
             now() + rclcpp::Duration(std::chrono::duration<double>(throttle_))));
       }
 
-      // publish barcode
+      // publish symbol
+      RCLCPP_DEBUG(get_logger(), "Publishing Symbol");
+      symbol_pub_->publish(symbol);
+
+      // publish on deprecated barcode topic
       RCLCPP_DEBUG(get_logger(), "Publishing data as string");
       std_msgs::msg::String barcode_string;
       barcode_string.data = symbol.data;
       barcode_pub_->publish(barcode_string);
-
-      // publish symbol
-      RCLCPP_DEBUG(get_logger(), "Publishing Symbol");
-      symbol_pub_->publish(symbol);
     }
   } else {
     RCLCPP_DEBUG(get_logger(), "No barcode detected in image");