Removed create_subscription_internal

rclcpp/include/rclcpp/node.hpp

@@ -114,31 +114,6 @@ public:
   create_publisher(
     const std::string & topic_name, const rmw_qos_profile_t & qos_profile);
 
-  /// Create and return a Subscription.
-  /**
-   * \param[in] topic_name The topic to subscribe on.
-   * \param[in] qos_history_depth The depth of the subscription's incoming message queue.
-   * \param[in] callback The user-defined callback function.
-   * \param[in] group The callback group for this subscription. NULL for no callback group.
-   * \param[in] ignore_local_publications True to ignore local publications.
-   * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
-   * \return Shared pointer to the created subscription.
-   */
-  /* TODO(jacquelinekay):
-     Windows build breaks when static member function passed as default
-     argument to msg_mem_strat, nullptr is a workaround.
-   */
-  template<typename MessageT, typename CallbackT>
-  typename rclcpp::subscription::Subscription<MessageT>::SharedPtr
-  create_subscription(
-    const std::string & topic_name,
-    size_t qos_history_depth,
-    CallbackT callback,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
-    bool ignore_local_publications = false,
-    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT>::SharedPtr
-    msg_mem_strat = nullptr);
-
   /// Create and return a Subscription.
   /**
    * \param[in] topic_name The topic to subscribe on.
@@ -164,6 +139,31 @@ public:
     typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT>::SharedPtr
     msg_mem_strat = nullptr);
 
+  /// Create and return a Subscription.
+  /**
+   * \param[in] topic_name The topic to subscribe on.
+   * \param[in] qos_history_depth The depth of the subscription's incoming message queue.
+   * \param[in] callback The user-defined callback function.
+   * \param[in] group The callback group for this subscription. NULL for no callback group.
+   * \param[in] ignore_local_publications True to ignore local publications.
+   * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
+   * \return Shared pointer to the created subscription.
+   */
+  /* TODO(jacquelinekay):
+     Windows build breaks when static member function passed as default
+     argument to msg_mem_strat, nullptr is a workaround.
+   */
+  template<typename MessageT, typename CallbackT>
+  typename rclcpp::subscription::Subscription<MessageT>::SharedPtr
+  create_subscription(
+    const std::string & topic_name,
+    size_t qos_history_depth,
+    CallbackT callback,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
+    bool ignore_local_publications = false,
+    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT>::SharedPtr
+    msg_mem_strat = nullptr);
+
   /// Create a timer.
   /**
    * \param[in] period Time interval between triggers of the callback.
@@ -262,16 +262,6 @@ private:
 
   publisher::Publisher<rcl_interfaces::msg::ParameterEvent>::SharedPtr events_publisher_;
 
-  template<typename MessageT>
-  typename subscription::Subscription<MessageT>::SharedPtr
-  create_subscription_internal(
-    const std::string & topic_name,
-    const rmw_qos_profile_t & qos_profile,
-    rclcpp::subscription::AnySubscriptionCallback<MessageT> callback,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group,
-    bool ignore_local_publications,
-    typename message_memory_strategy::MessageMemoryStrategy<MessageT>::SharedPtr msg_mem_strat);
-
   template<
     typename ServiceT,
     typename FunctorT,

rclcpp/include/rclcpp/node_impl.hpp

@@ -216,14 +216,12 @@ Node::create_subscription(
   typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT>::SharedPtr
   msg_mem_strat)
 {
-  rclcpp::subscription::AnySubscriptionCallback<MessageT> any_subscription_callback;
-  any_subscription_callback.set(callback);
   rmw_qos_profile_t qos = rmw_qos_profile_default;
   qos.depth = qos_history_depth;
-  return this->create_subscription_internal(
+  return this->create_subscription(
     topic_name,
     qos,
-    any_subscription_callback,
+    callback,
     group,
     ignore_local_publications,
     msg_mem_strat);
@@ -242,25 +240,7 @@ Node::create_subscription(
 {
   rclcpp::subscription::AnySubscriptionCallback<MessageT> any_subscription_callback;
   any_subscription_callback.set(callback);
-  return this->create_subscription_internal(
-    topic_name,
-    qos_profile,
-    any_subscription_callback,
-    group,
-    ignore_local_publications,
-    msg_mem_strat);
-}
 
-template<typename MessageT>
-typename subscription::Subscription<MessageT>::SharedPtr
-Node::create_subscription_internal(
-  const std::string & topic_name,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::subscription::AnySubscriptionCallback<MessageT> callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  bool ignore_local_publications,
-  typename message_memory_strategy::MessageMemoryStrategy<MessageT>::SharedPtr msg_mem_strat)
-{
   using rosidl_generator_cpp::get_message_type_support_handle;
 
   if (!msg_mem_strat) {
@@ -286,7 +266,7 @@ Node::create_subscription_internal(
     subscriber_handle,
     topic_name,
     ignore_local_publications,
-    callback,
+    any_subscription_callback,
     msg_mem_strat);
   auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
   // Setup intra process.