always get service name from rcl to account for remapping (#498)

rclcpp/include/rclcpp/client.hpp

@@ -57,14 +57,13 @@ public:
   RCLCPP_PUBLIC
   ClientBase(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
+    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph);
-    const std::string & service_name);
 
   RCLCPP_PUBLIC
   virtual ~ClientBase();
 
   RCLCPP_PUBLIC
-  const std::string &
+  const char *
   get_service_name() const;
 
   RCLCPP_PUBLIC
@@ -113,8 +112,6 @@ protected:
   std::shared_ptr<rcl_node_t> node_handle_;
 
   std::shared_ptr<rcl_client_t> client_handle_;
-
-  std::string service_name_;
 };
 
 template<typename ServiceT>
@@ -143,7 +140,7 @@ public:
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
     const std::string & service_name,
     rcl_client_options_t & client_options)
-  : ClientBase(node_base, node_graph, service_name)
+  : ClientBase(node_base, node_graph)
   {
     using rosidl_typesupport_cpp::get_service_type_support_handle;
     auto service_type_support_handle =

rclcpp/include/rclcpp/service.hpp

@@ -42,11 +42,6 @@ class ServiceBase
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServiceBase)
 
-  RCLCPP_PUBLIC
-  ServiceBase(
-    std::shared_ptr<rcl_node_t> node_handle,
-    const std::string & service_name);
-
   RCLCPP_PUBLIC
   explicit ServiceBase(
     std::shared_ptr<rcl_node_t> node_handle);
@@ -55,7 +50,7 @@ public:
   virtual ~ServiceBase();
 
   RCLCPP_PUBLIC
-  std::string
+  const char *
   get_service_name();
 
   RCLCPP_PUBLIC
@@ -86,7 +81,6 @@ protected:
   std::shared_ptr<rcl_node_t> node_handle_;
 
   std::shared_ptr<rcl_service_t> service_handle_;
-  std::string service_name_;
   bool owns_rcl_handle_ = true;
 };
 
@@ -111,7 +105,7 @@ public:
     const std::string & service_name,
     AnyServiceCallback<ServiceT> any_callback,
     rcl_service_options_t & service_options)
-  : ServiceBase(node_handle, service_name), any_callback_(any_callback)
+  : ServiceBase(node_handle), any_callback_(any_callback)
   {
     using rosidl_typesupport_cpp::get_service_type_support_handle;
     auto service_type_support_handle = get_service_type_support_handle<ServiceT>();
@@ -177,12 +171,7 @@ public:
       // *INDENT-ON*
     }
 
-    const char * service_name = rcl_service_get_service_name(service_handle.get());
-    if (!service_name) {
-      throw std::runtime_error("failed to get service name");
-    }
     service_handle_ = service_handle;
-    service_name_ = std::string(service_name);
   }
 
   Service(
@@ -200,12 +189,6 @@ public:
       // *INDENT-ON*
     }
 
-    const char * service_name = rcl_service_get_service_name(service_handle);
-    if (!service_name) {
-      throw std::runtime_error("failed to get service name");
-    }
-    service_name_ = std::string(service_name);
-
     // In this case, rcl owns the service handle memory
     service_handle_ = std::shared_ptr<rcl_service_t>(new rcl_service_t);
     service_handle_->impl = service_handle->impl;

rclcpp/src/rclcpp/client.cpp

@@ -35,11 +35,9 @@ using rclcpp::exceptions::throw_from_rcl_error;
 
 ClientBase::ClientBase(
   rclcpp::node_interfaces::NodeBaseInterface * node_base,
-  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
+  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph)
-  const std::string & service_name)
 : node_graph_(node_graph),
-  node_handle_(node_base->get_shared_rcl_node_handle()),
+  node_handle_(node_base->get_shared_rcl_node_handle())
-  service_name_(service_name)
 {
   std::weak_ptr<rcl_node_t> weak_node_handle(node_handle_);
   client_handle_ = std::shared_ptr<rcl_client_t>(
@@ -70,10 +68,10 @@ ClientBase::~ClientBase()
   client_handle_.reset();
 }
 
-const std::string &
+const char *
 ClientBase::get_service_name() const
 {
-  return this->service_name_;
+  return rcl_client_get_service_name(this->get_client_handle().get());
 }
 
 std::shared_ptr<rcl_client_t>

rclcpp/src/rclcpp/executor.cpp

@@ -345,7 +345,7 @@ Executor::execute_service(
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
       "take request failed for server of service '%s': %s",
-      service->get_service_name().c_str(), rcl_get_error_string_safe());
+      service->get_service_name(), rcl_get_error_string_safe());
     rcl_reset_error();
   }
 }
@@ -366,7 +366,7 @@ Executor::execute_client(
     RCUTILS_LOG_ERROR_NAMED(
       "rclcpp",
       "take response failed for client of service '%s': %s",
-      client->get_service_name().c_str(), rcl_get_error_string_safe());
+      client->get_service_name(), rcl_get_error_string_safe());
     rcl_reset_error();
   }
 }

rclcpp/src/rclcpp/service.cpp

@@ -27,12 +27,6 @@
 
 using rclcpp::ServiceBase;
 
-ServiceBase::ServiceBase(
-  std::shared_ptr<rcl_node_t> node_handle,
-  const std::string & service_name)
-: node_handle_(node_handle), service_name_(service_name)
-{}
-
 ServiceBase::ServiceBase(std::shared_ptr<rcl_node_t> node_handle)
 : node_handle_(node_handle)
 {}
@@ -40,10 +34,10 @@ ServiceBase::ServiceBase(std::shared_ptr<rcl_node_t> node_handle)
 ServiceBase::~ServiceBase()
 {}
 
-std::string
+const char *
 ServiceBase::get_service_name()
 {
-  return this->service_name_;
+  return rcl_service_get_service_name(this->get_service_handle().get());
 }
 
 std::shared_ptr<rcl_service_t>