Replace node constructor arguments with NodeOptions (#622)

* Start work on creaating NodeOptions structure.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Continue work on NodeOptions.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Update tests for NodeOptions impl.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Update documentation and copy/assignment.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Update rclcpp_lifecycle to conform to new API.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Use builder pattern with NodeOptions.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Documentation updates.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Update rclcpp_lifecycle to use NodeOptions.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* change to parameter idiom only, from builder pattern

Signed-off-by: William Woodall <william@osrfoundation.org>

* Update rclcpp/include/rclcpp/node_options.hpp

Co-Authored-By: wjwwood <william+github@osrfoundation.org>

Signed-off-by: William Woodall <william@osrfoundation.org>

* follow up with more resets of the rcl_node_options_t

Signed-off-by: William Woodall <william@osrfoundation.org>

* todo about get env

Signed-off-by: William Woodall <william@osrfoundation.org>

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -36,6 +36,7 @@
 #include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
+#include "rclcpp/node_options.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_clock_interface.hpp"
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
@@ -75,39 +76,25 @@ public:
   /**
    * \param[in] node_name Name of the node.
    * \param[in] namespace_ Namespace of the node.
-   * \param[in] use_intra_process_comms True to use the optimized intra-process communication
-   * pipeline to pass messages between nodes in the same process using shared memory.
+   * \param[in] options Additional options to control creation of the node.
    */
   RCLCPP_LIFECYCLE_PUBLIC
   explicit LifecycleNode(
     const std::string & node_name,
-    const std::string & namespace_ = "",
-    bool use_intra_process_comms = false);
+    const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
   /// Create a node based on the node name and a rclcpp::Context.
   /**
    * \param[in] node_name Name of the node.
    * \param[in] namespace_ Namespace of the node.
    * \param[in] context The context for the node (usually represents the state of a process).
-   * \param[in] arguments Command line arguments that should apply only to this node.
-   * \param[in] initial_parameters a list of initial values for parameters on the node.
-   * This can be used to provide remapping rules that only affect one instance.
-   * \param[in] use_global_arguments False to prevent node using arguments passed to the process.
-   * \param[in] use_intra_process_comms True to use the optimized intra-process communication
-   * pipeline to pass messages between nodes in the same process using shared memory.
-   * \param[in] start_parameter_services True to setup ROS interfaces for accessing parameters
-   * in the node.
+   * \param[in] options Additional options to control creation of the node.
    */
   RCLCPP_LIFECYCLE_PUBLIC
   LifecycleNode(
     const std::string & node_name,
     const std::string & namespace_,
-    rclcpp::Context::SharedPtr context,
-    const std::vector<std::string> & arguments,
-    const std::vector<rclcpp::Parameter> & initial_parameters,
-    bool use_global_arguments = true,
-    bool use_intra_process_comms = false,
-    bool start_parameter_services = true);
+    const rclcpp::NodeOptions & options);
 
   RCLCPP_LIFECYCLE_PUBLIC
   virtual ~LifecycleNode();

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -45,30 +45,19 @@ namespace rclcpp_lifecycle
 
 LifecycleNode::LifecycleNode(
   const std::string & node_name,
-  const std::string & namespace_,
-  bool use_intra_process_comms)
+  const rclcpp::NodeOptions & options)
 : LifecycleNode(
     node_name,
-    namespace_,
-    rclcpp::contexts::default_context::get_global_default_context(),
-    {},
-    {},
-    true,
-    use_intra_process_comms,
-    true)
+    "",
+    options)
 {}
 
 LifecycleNode::LifecycleNode(
   const std::string & node_name,
   const std::string & namespace_,
-  rclcpp::Context::SharedPtr context,
-  const std::vector<std::string> & arguments,
-  const std::vector<rclcpp::Parameter> & initial_parameters,
-  bool use_global_arguments,
-  bool use_intra_process_comms,
-  bool start_parameter_services)
+  const rclcpp::NodeOptions & options)
 : node_base_(new rclcpp::node_interfaces::NodeBase(
-      node_name, namespace_, context, arguments, use_global_arguments)),
+      node_name, namespace_, options)),
   node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
   node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_.get())),
   node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
@@ -86,12 +75,12 @@ LifecycleNode::LifecycleNode(
       node_topics_,
       node_services_,
       node_clock_,
-      initial_parameters,
-      use_intra_process_comms,
-      start_parameter_services
+      options.initial_parameters(),
+      options.use_intra_process_comms(),
+      options.start_parameter_services()
     )),
   node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
-  use_intra_process_comms_(use_intra_process_comms),
+  use_intra_process_comms_(options.use_intra_process_comms()),
   impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_))
 {
   impl_->init();