Update subscription callback signatures (backport #6005)

source/Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-CPP.rst

@@ -101,7 +101,7 @@ Inside the ``ros2_ws/src/bag_recorder_nodes/src`` directory, create a new file c
       }
 
     private:
-      void topic_callback(std::shared_ptr<rclcpp::SerializedMessage> msg) const
+      void topic_callback(std::shared_ptr<const rclcpp::SerializedMessage> msg) const
       {
         rclcpp::Time time_stamp = this->now();
 
@@ -158,7 +158,7 @@ We do this for two reasons.
 
 .. code-block:: C++
 
-      void topic_callback(std::shared_ptr<rclcpp::SerializedMessage> msg) const
+      void topic_callback(std::shared_ptr<const rclcpp::SerializedMessage> msg) const
       {
 
 Within the subscription callback, the first thing to do is determine the time stamp to use for the stored message.

source/Tutorials/Advanced/Simulators/Webots/Code/MyRobotDriver.cpp

@@ -29,7 +29,7 @@ void MyRobotDriver::init(
 }
 
 void MyRobotDriver::cmdVelCallback(
-    const geometry_msgs::msg::Twist::SharedPtr msg) {
+    const geometry_msgs::msg::Twist::ConstSharedPtr msg) {
   cmd_vel_msg.linear = msg->linear;
   cmd_vel_msg.angular = msg->angular;
 }

source/Tutorials/Advanced/Simulators/Webots/Code/ObstacleAvoider.cpp

@@ -17,12 +17,12 @@ ObstacleAvoider::ObstacleAvoider() : Node("obstacle_avoider") {
 }
 
 void ObstacleAvoider::leftSensorCallback(
-    const sensor_msgs::msg::Range::SharedPtr msg) {
+    const sensor_msgs::msg::Range::ConstSharedPtr msg) {
   left_sensor_value = msg->range;
 }
 
 void ObstacleAvoider::rightSensorCallback(
-    const sensor_msgs::msg::Range::SharedPtr msg) {
+    const sensor_msgs::msg::Range::ConstSharedPtr msg) {
   right_sensor_value = msg->range;
 
   auto command_message = std::make_unique<geometry_msgs::msg::Twist>();

source/Tutorials/Advanced/Simulators/Webots/Code/ObstacleAvoider.hpp

@@ -9,8 +9,8 @@ class ObstacleAvoider : public rclcpp::Node {
   explicit ObstacleAvoider();
 
 private:
-  void leftSensorCallback(const sensor_msgs::msg::Range::SharedPtr msg);
-  void rightSensorCallback(const sensor_msgs::msg::Range::SharedPtr msg);
+  void leftSensorCallback(const sensor_msgs::msg::Range::ConstSharedPtr msg);
+  void rightSensorCallback(const sensor_msgs::msg::Range::ConstSharedPtr msg);
 
   rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
   rclcpp::Subscription<sensor_msgs::msg::Range>::SharedPtr left_sensor_sub_;

source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Cpp.rst

@@ -107,7 +107,7 @@ Open the file using your preferred text editor.
       }
 
     private:
-      void handle_turtle_pose(const std::shared_ptr<turtlesim::msg::Pose> msg)
+      void handle_turtle_pose(const std::shared_ptr<const turtlesim::msg::Pose> msg)
       {
         geometry_msgs::msg::TransformStamped t;