Switch IntraProcessMessage to test_msgs/Empty (#1017)

Signed-off-by: Stephen Brawner <brawner@gmail.com>

rclcpp/CMakeLists.txt

@@ -329,10 +329,10 @@ if(BUILD_TESTING)
   ament_add_gtest(test_publisher test/test_publisher.cpp)
   if(TARGET test_publisher)
     ament_target_dependencies(test_publisher
-      "rcl_interfaces"
       "rmw"
       "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
+      "test_msgs"
     )
     target_link_libraries(test_publisher ${PROJECT_NAME})
   endif()
@@ -343,6 +343,7 @@ if(BUILD_TESTING)
       "rmw"
       "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
+      "test_msgs"
     )
     target_link_libraries(test_publisher_subscription_count_api ${PROJECT_NAME})
   endif()
@@ -384,6 +385,7 @@ if(BUILD_TESTING)
       "rmw"
       "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
+      "test_msgs"
     )
     target_link_libraries(test_subscription ${PROJECT_NAME})
   endif()
@@ -394,6 +396,7 @@ if(BUILD_TESTING)
       "rmw"
       "rosidl_generator_cpp"
       "rosidl_typesupport_cpp"
+      "test_msgs"
     )
     target_link_libraries(test_subscription_publisher_count_api ${PROJECT_NAME})
   endif()

rclcpp/include/rclcpp/node_impl.hpp

@@ -33,8 +33,6 @@
 #include "rcl/publisher.h"
 #include "rcl/subscription.h"
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
-
 #include "rclcpp/contexts/default_context.hpp"
 #include "rclcpp/create_client.hpp"
 #include "rclcpp/create_publisher.hpp"

rclcpp/src/rclcpp/executor.cpp

@@ -26,8 +26,6 @@
 #include "rclcpp/scope_exit.hpp"
 #include "rclcpp/utilities.hpp"
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
-
 #include "rcutils/logging_macros.h"
 
 using rclcpp::exceptions::throw_from_rcl_error;

rclcpp/src/rclcpp/publisher_base.cpp

@@ -24,7 +24,6 @@
 #include <string>
 #include <vector>
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
 #include "rcutils/logging_macros.h"
 #include "rmw/impl/cpp/demangle.hpp"
 

rclcpp/src/rclcpp/type_support.cpp

@@ -15,7 +15,6 @@
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
 #include "rcl_interfaces/msg/list_parameters_result.hpp"
 #include "rcl_interfaces/msg/parameter_descriptor.hpp"
 #include "rcl_interfaces/msg/parameter_event.hpp"
@@ -27,14 +26,6 @@
 #include "rcl_interfaces/srv/set_parameters.hpp"
 #include "rcl_interfaces/srv/set_parameters_atomically.hpp"
 
-const rosidl_message_type_support_t *
-rclcpp::type_support::get_intra_process_message_msg_type_support()
-{
-  return rosidl_typesupport_cpp::get_message_type_support_handle<
-    rcl_interfaces::msg::IntraProcessMessage
-  >();
-}
-
 const rosidl_message_type_support_t *
 rclcpp::type_support::get_parameter_event_msg_type_support()
 {

rclcpp/test/executors/test_multi_threaded_executor.cpp

@@ -23,12 +23,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp/executors.hpp"
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
-
 using namespace std::chrono_literals;
 
-using rcl_interfaces::msg::IntraProcessMessage;
-
 class TestMultiThreadedExecutor : public ::testing::Test
 {
 protected:

rclcpp/test/test_publisher.cpp

@@ -21,7 +21,7 @@
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/rclcpp.hpp"
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
+#include "test_msgs/msg/empty.hpp"
 
 class TestPublisher : public ::testing::Test
 {
@@ -93,16 +93,16 @@ protected:
  */
 TEST_F(TestPublisher, construction_and_destruction) {
   initialize();
-  using rcl_interfaces::msg::IntraProcessMessage;
+  using test_msgs::msg::Empty;
   {
-    auto publisher = node->create_publisher<IntraProcessMessage>("topic", 42);
+    auto publisher = node->create_publisher<Empty>("topic", 42);
     (void)publisher;
   }
 
   {
     ASSERT_THROW(
     {
-      auto publisher = node->create_publisher<IntraProcessMessage>("invalid_topic?", 42);
+      auto publisher = node->create_publisher<Empty>("invalid_topic?", 42);
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
 }
@@ -112,33 +112,33 @@ TEST_F(TestPublisher, construction_and_destruction) {
  */
 TEST_F(TestPublisher, various_creation_signatures) {
   initialize();
-  using rcl_interfaces::msg::IntraProcessMessage;
+  using test_msgs::msg::Empty;
   {
-    auto publisher = node->create_publisher<IntraProcessMessage>("topic", 42);
+    auto publisher = node->create_publisher<Empty>("topic", 42);
     (void)publisher;
   }
   {
-    auto publisher = node->create_publisher<IntraProcessMessage>("topic", rclcpp::QoS(42));
+    auto publisher = node->create_publisher<Empty>("topic", rclcpp::QoS(42));
     (void)publisher;
   }
   {
     auto publisher =
-      node->create_publisher<IntraProcessMessage>("topic", rclcpp::QoS(rclcpp::KeepLast(42)));
+      node->create_publisher<Empty>("topic", rclcpp::QoS(rclcpp::KeepLast(42)));
     (void)publisher;
   }
   {
     auto publisher =
-      node->create_publisher<IntraProcessMessage>("topic", rclcpp::QoS(rclcpp::KeepAll()));
+      node->create_publisher<Empty>("topic", rclcpp::QoS(rclcpp::KeepAll()));
     (void)publisher;
   }
   {
     auto publisher =
-      node->create_publisher<IntraProcessMessage>("topic", 42, rclcpp::PublisherOptions());
+      node->create_publisher<Empty>("topic", 42, rclcpp::PublisherOptions());
     (void)publisher;
   }
   {
     auto publisher =
-      rclcpp::create_publisher<IntraProcessMessage>(node, "topic", 42, rclcpp::PublisherOptions());
+      rclcpp::create_publisher<Empty>(node, "topic", 42, rclcpp::PublisherOptions());
     (void)publisher;
   }
 }
@@ -149,10 +149,10 @@ TEST_F(TestPublisher, various_creation_signatures) {
 TEST_P(TestPublisherInvalidIntraprocessQos, test_publisher_throws) {
   initialize(rclcpp::NodeOptions().use_intra_process_comms(true));
   rclcpp::QoS qos = GetParam().qos;
-  using rcl_interfaces::msg::IntraProcessMessage;
+  using test_msgs::msg::Empty;
   {
     ASSERT_THROW(
-      {auto publisher = node->create_publisher<IntraProcessMessage>("topic", qos);},
+      {auto publisher = node->create_publisher<Empty>("topic", qos);},
       std::invalid_argument);
   }
 }
@@ -183,15 +183,15 @@ INSTANTIATE_TEST_CASE_P(
    Testing publisher construction and destruction for subnodes.
  */
 TEST_F(TestPublisherSub, construction_and_destruction) {
-  using rcl_interfaces::msg::IntraProcessMessage;
+  using test_msgs::msg::Empty;
   {
-    auto publisher = subnode->create_publisher<IntraProcessMessage>("topic", 42);
+    auto publisher = subnode->create_publisher<Empty>("topic", 42);
 
     EXPECT_STREQ(publisher->get_topic_name(), "/ns/sub_ns/topic");
   }
 
   {
-    auto publisher = subnode->create_publisher<IntraProcessMessage>("/topic", 42);
+    auto publisher = subnode->create_publisher<Empty>("/topic", 42);
 
     EXPECT_STREQ(publisher->get_topic_name(), "/topic");
   }
@@ -199,7 +199,7 @@ TEST_F(TestPublisherSub, construction_and_destruction) {
   {
     ASSERT_THROW(
     {
-      auto publisher = subnode->create_publisher<IntraProcessMessage>("invalid_topic?", 42);
+      auto publisher = subnode->create_publisher<Empty>("invalid_topic?", 42);
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
 }

rclcpp/test/test_publisher_subscription_count_api.cpp

@@ -22,9 +22,9 @@
 #include "rclcpp/publisher.hpp"
 #include "rclcpp/rclcpp.hpp"
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
+#include "test_msgs/msg/empty.hpp"
 
-using rcl_interfaces::msg::IntraProcessMessage;
+using test_msgs::msg::Empty;
 
 /**
  * Parameterized test.
@@ -62,7 +62,7 @@ protected:
 
 std::chrono::milliseconds TestPublisherSubscriptionCount::offset = std::chrono::milliseconds(2000);
 
-void OnMessage(const rcl_interfaces::msg::IntraProcessMessage::SharedPtr msg)
+void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
 {
   (void)msg;
 }
@@ -74,12 +74,12 @@ TEST_P(TestPublisherSubscriptionCount, increasing_and_decreasing_counts)
     "my_node",
     "/ns",
     parameters.node_options[0]);
-  auto publisher = node->create_publisher<IntraProcessMessage>("/topic", 10);
+  auto publisher = node->create_publisher<Empty>("/topic", 10);
 
   EXPECT_EQ(publisher->get_subscription_count(), 0u);
   EXPECT_EQ(publisher->get_intra_process_subscription_count(), 0u);
   {
-    auto sub = node->create_subscription<IntraProcessMessage>("/topic", 10, &OnMessage);
+    auto sub = node->create_subscription<Empty>("/topic", 10, &OnMessage);
     rclcpp::sleep_for(offset);
     EXPECT_EQ(publisher->get_subscription_count(), 1u);
     EXPECT_EQ(
@@ -91,7 +91,7 @@ TEST_P(TestPublisherSubscriptionCount, increasing_and_decreasing_counts)
         "/ns",
         parameters.node_options[1]);
       auto another_sub =
-        another_node->create_subscription<IntraProcessMessage>("/topic", 10, &OnMessage);
+        another_node->create_subscription<Empty>("/topic", 10, &OnMessage);
 
       rclcpp::sleep_for(offset);
       EXPECT_EQ(publisher->get_subscription_count(), 2u);

rclcpp/test/test_subscription.cpp

@@ -21,12 +21,12 @@
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/rclcpp.hpp"
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
+#include "test_msgs/msg/empty.hpp"
 
 class TestSubscription : public ::testing::Test
 {
 public:
-  void OnMessage(const rcl_interfaces::msg::IntraProcessMessage::SharedPtr msg)
+  void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
   {
     (void)msg;
   }
@@ -72,7 +72,7 @@ class TestSubscriptionInvalidIntraprocessQos
 class TestSubscriptionSub : public ::testing::Test
 {
 public:
-  void OnMessage(const rcl_interfaces::msg::IntraProcessMessage::SharedPtr msg)
+  void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
   {
     (void)msg;
   }
@@ -105,7 +105,7 @@ public:
   {
   }
 
-  void OnMessage(const rcl_interfaces::msg::IntraProcessMessage::SharedPtr msg)
+  void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
   {
     (void)msg;
   }
@@ -114,15 +114,15 @@ public:
   {
     auto callback = std::bind(
       &SubscriptionClassNodeInheritance::OnMessage, this, std::placeholders::_1);
-    using rcl_interfaces::msg::IntraProcessMessage;
+    using test_msgs::msg::Empty;
-    auto sub = this->create_subscription<IntraProcessMessage>("topic", 10, callback);
+    auto sub = this->create_subscription<Empty>("topic", 10, callback);
   }
 };
 
 class SubscriptionClass
 {
 public:
-  void OnMessage(const rcl_interfaces::msg::IntraProcessMessage::SharedPtr msg)
+  void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
   {
     (void)msg;
   }
@@ -131,8 +131,8 @@ public:
   {
     auto node = std::make_shared<rclcpp::Node>("test_subscription_member_callback", "/ns");
     auto callback = std::bind(&SubscriptionClass::OnMessage, this, std::placeholders::_1);
-    using rcl_interfaces::msg::IntraProcessMessage;
+    using test_msgs::msg::Empty;
-    auto sub = node->create_subscription<IntraProcessMessage>("topic", 10, callback);
+    auto sub = node->create_subscription<Empty>("topic", 10, callback);
   }
 };
 
@@ -141,18 +141,18 @@ public:
  */
 TEST_F(TestSubscription, construction_and_destruction) {
   initialize();
-  using rcl_interfaces::msg::IntraProcessMessage;
+  using test_msgs::msg::Empty;
-  auto callback = [](const IntraProcessMessage::SharedPtr msg) {
+  auto callback = [](const Empty::SharedPtr msg) {
       (void)msg;
     };
   {
-    auto sub = node->create_subscription<IntraProcessMessage>("topic", 10, callback);
+    auto sub = node->create_subscription<Empty>("topic", 10, callback);
   }
 
   {
     ASSERT_THROW(
     {
-      auto sub = node->create_subscription<IntraProcessMessage>("invalid_topic?", 10, callback);
+      auto sub = node->create_subscription<Empty>("invalid_topic?", 10, callback);
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
 }
@@ -161,22 +161,22 @@ TEST_F(TestSubscription, construction_and_destruction) {
    Testing subscription construction and destruction for subnodes.
  */
 TEST_F(TestSubscriptionSub, construction_and_destruction) {
-  using rcl_interfaces::msg::IntraProcessMessage;
+  using test_msgs::msg::Empty;
-  auto callback = [](const IntraProcessMessage::SharedPtr msg) {
+  auto callback = [](const Empty::SharedPtr msg) {
       (void)msg;
     };
   {
-    auto sub = subnode->create_subscription<IntraProcessMessage>("topic", 1, callback);
+    auto sub = subnode->create_subscription<Empty>("topic", 1, callback);
     EXPECT_STREQ(sub->get_topic_name(), "/ns/sub_ns/topic");
   }
 
   {
-    auto sub = subnode->create_subscription<IntraProcessMessage>("/topic", 1, callback);
+    auto sub = subnode->create_subscription<Empty>("/topic", 1, callback);
     EXPECT_STREQ(sub->get_topic_name(), "/topic");
   }
 
   {
-    auto sub = subnode->create_subscription<IntraProcessMessage>("~/topic", 1, callback);
+    auto sub = subnode->create_subscription<Empty>("~/topic", 1, callback);
     std::string expected_topic_name =
       std::string(node->get_namespace()) + "/" + node->get_name() + "/topic";
     EXPECT_STREQ(sub->get_topic_name(), expected_topic_name.c_str());
@@ -185,7 +185,7 @@ TEST_F(TestSubscriptionSub, construction_and_destruction) {
   {
     ASSERT_THROW(
     {
-      auto sub = node->create_subscription<IntraProcessMessage>("invalid_topic?", 1, callback);
+      auto sub = node->create_subscription<Empty>("invalid_topic?", 1, callback);
     }, rclcpp::exceptions::InvalidTopicNameError);
   }
 }
@@ -195,33 +195,33 @@ TEST_F(TestSubscriptionSub, construction_and_destruction) {
  */
 TEST_F(TestSubscription, various_creation_signatures) {
   initialize();
-  using rcl_interfaces::msg::IntraProcessMessage;
+  using test_msgs::msg::Empty;
-  auto cb = [](rcl_interfaces::msg::IntraProcessMessage::SharedPtr) {};
+  auto cb = [](test_msgs::msg::Empty::SharedPtr) {};
   {
-    auto sub = node->create_subscription<IntraProcessMessage>("topic", 1, cb);
+    auto sub = node->create_subscription<Empty>("topic", 1, cb);
     (void)sub;
   }
   {
-    auto sub = node->create_subscription<IntraProcessMessage>("topic", rclcpp::QoS(1), cb);
+    auto sub = node->create_subscription<Empty>("topic", rclcpp::QoS(1), cb);
     (void)sub;
   }
   {
     auto sub =
-      node->create_subscription<IntraProcessMessage>("topic", rclcpp::QoS(rclcpp::KeepLast(1)), cb);
+      node->create_subscription<Empty>("topic", rclcpp::QoS(rclcpp::KeepLast(1)), cb);
     (void)sub;
   }
   {
     auto sub =
-      node->create_subscription<IntraProcessMessage>("topic", rclcpp::QoS(rclcpp::KeepAll()), cb);
+      node->create_subscription<Empty>("topic", rclcpp::QoS(rclcpp::KeepAll()), cb);
     (void)sub;
   }
   {
-    auto sub = node->create_subscription<IntraProcessMessage>(
+    auto sub = node->create_subscription<Empty>(
       "topic", 42, cb, rclcpp::SubscriptionOptions());
     (void)sub;
   }
   {
-    auto sub = rclcpp::create_subscription<IntraProcessMessage>(
+    auto sub = rclcpp::create_subscription<Empty>(
       node, "topic", 42, cb, rclcpp::SubscriptionOptions());
     (void)sub;
   }
@@ -232,7 +232,7 @@ TEST_F(TestSubscription, various_creation_signatures) {
  */
 TEST_F(TestSubscription, callback_bind) {
   initialize();
-  using rcl_interfaces::msg::IntraProcessMessage;
+  using test_msgs::msg::Empty;
   {
     // Member callback for plain class
     SubscriptionClass subscriptionObject;
@@ -248,7 +248,7 @@ TEST_F(TestSubscription, callback_bind) {
     // Regression test for https://github.com/ros2/rclcpp/issues/479 where the TEST_F GTest macro
     // was interfering with rclcpp's `function_traits`.
     auto callback = std::bind(&TestSubscription::OnMessage, this, std::placeholders::_1);
-    auto sub = node->create_subscription<IntraProcessMessage>("topic", 1, callback);
+    auto sub = node->create_subscription<Empty>("topic", 1, callback);
   }
 }
 
@@ -258,7 +258,7 @@ TEST_F(TestSubscription, callback_bind) {
 TEST_P(TestSubscriptionInvalidIntraprocessQos, test_subscription_throws) {
   initialize(rclcpp::NodeOptions().use_intra_process_comms(true));
   rclcpp::QoS qos = GetParam().qos;
-  using rcl_interfaces::msg::IntraProcessMessage;
+  using test_msgs::msg::Empty;
   {
     auto callback = std::bind(
       &TestSubscriptionInvalidIntraprocessQos::OnMessage,
@@ -266,7 +266,7 @@ TEST_P(TestSubscriptionInvalidIntraprocessQos, test_subscription_throws) {
       std::placeholders::_1);
 
     ASSERT_THROW(
-      {auto subscription = node->create_subscription<IntraProcessMessage>(
+      {auto subscription = node->create_subscription<Empty>(
           "topic",
           qos,
           callback);},

rclcpp/test/test_subscription_publisher_count_api.cpp

@@ -21,9 +21,9 @@
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/rclcpp.hpp"
 
-#include "rcl_interfaces/msg/intra_process_message.hpp"
+#include "test_msgs/msg/empty.hpp"
 
-using rcl_interfaces::msg::IntraProcessMessage;
+using test_msgs::msg::Empty;
 
 struct TestParameters
 {
@@ -53,7 +53,7 @@ protected:
 
 std::chrono::milliseconds TestSubscriptionPublisherCount::offset = std::chrono::milliseconds(2000);
 
-void OnMessage(const rcl_interfaces::msg::IntraProcessMessage::SharedPtr msg)
+void OnMessage(const test_msgs::msg::Empty::SharedPtr msg)
 {
   (void)msg;
 }
@@ -65,11 +65,11 @@ TEST_P(TestSubscriptionPublisherCount, increasing_and_decreasing_counts)
     "my_node",
     "/ns",
     node_options);
-  auto subscription = node->create_subscription<IntraProcessMessage>("/topic", 10, &OnMessage);
+  auto subscription = node->create_subscription<Empty>("/topic", 10, &OnMessage);
 
   EXPECT_EQ(subscription->get_publisher_count(), 0u);
   {
-    auto pub = node->create_publisher<IntraProcessMessage>("/topic", 10);
+    auto pub = node->create_publisher<Empty>("/topic", 10);
     rclcpp::sleep_for(offset);
     EXPECT_EQ(subscription->get_publisher_count(), 1u);
     {
@@ -78,7 +78,7 @@ TEST_P(TestSubscriptionPublisherCount, increasing_and_decreasing_counts)
         "/ns",
         node_options);
       auto another_pub =
-        another_node->create_publisher<IntraProcessMessage>("/topic", 10);
+        another_node->create_publisher<Empty>("/topic", 10);
 
       rclcpp::sleep_for(offset);
       EXPECT_EQ(subscription->get_publisher_count(), 2u);