expose rcl handles

rclcpp/include/rclcpp/client.hpp

@@ -68,6 +68,10 @@ public:
   const std::string &
   get_service_name() const;
 
+  RCLCPP_PUBLIC
+  rcl_client_t *
+  get_client_handle();
+
   RCLCPP_PUBLIC
   const rcl_client_t *
   get_client_handle() const;
@@ -100,6 +104,10 @@ protected:
 
   RCLCPP_PUBLIC
   rcl_node_t *
+  get_rcl_node_handle();
+
+  RCLCPP_PUBLIC
+  const rcl_node_t *
   get_rcl_node_handle() const;
 
   rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_;

rclcpp/include/rclcpp/publisher.hpp

@@ -98,6 +98,18 @@ public:
   const rmw_gid_t &
   get_intra_process_gid() const;
 
+  /// Get the rcl publisher handle.
+  /** \return The rcl publisher handle. */
+  RCLCPP_PUBLIC
+  rcl_publisher_t *
+  get_publisher_handle();
+
+  /// Get the rcl publisher handle.
+  /** \return The rcl publisher handle. */
+  RCLCPP_PUBLIC
+  const rcl_publisher_t *
+  get_publisher_handle() const;
+
   /// Compare this publisher to a gid.
   /**
    * Note that this function calls the next function.

rclcpp/include/rclcpp/service.hpp

@@ -60,9 +60,13 @@ public:
   get_service_name();
 
   RCLCPP_PUBLIC
-  const rcl_service_t *
+  rcl_service_t *
   get_service_handle();
 
+  RCLCPP_PUBLIC
+  const rcl_service_t *
+  get_service_handle() const;
+
   virtual std::shared_ptr<void> create_request() = 0;
   virtual std::shared_ptr<rmw_request_id_t> create_request_header() = 0;
   virtual void handle_request(
@@ -74,6 +78,10 @@ protected:
 
   RCLCPP_PUBLIC
   rcl_node_t *
+  get_rcl_node_handle();
+
+  RCLCPP_PUBLIC
+  const rcl_node_t *
   get_rcl_node_handle() const;
 
   std::shared_ptr<rcl_node_t> node_handle_;

rclcpp/include/rclcpp/subscription.hpp

@@ -78,6 +78,10 @@ public:
   const char *
   get_topic_name() const;
 
+  RCLCPP_PUBLIC
+  rcl_subscription_t *
+  get_subscription_handle();
+
   RCLCPP_PUBLIC
   const rcl_subscription_t *
   get_subscription_handle() const;

rclcpp/src/rclcpp/client.cpp

@@ -48,6 +48,12 @@ ClientBase::get_service_name() const
   return this->service_name_;
 }
 
+rcl_client_t *
+ClientBase::get_client_handle()
+{
+  return &client_handle_;
+}
+
 const rcl_client_t *
 ClientBase::get_client_handle() const
 {
@@ -115,6 +121,12 @@ ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
 }
 
 rcl_node_t *
+ClientBase::get_rcl_node_handle()
+{
+  return node_handle_.get();
+}
+
+const rcl_node_t *
 ClientBase::get_rcl_node_handle() const
 {
   return node_handle_.get();

rclcpp/src/rclcpp/publisher.cpp

@@ -125,6 +125,18 @@ PublisherBase::get_intra_process_gid() const
   return intra_process_rmw_gid_;
 }
 
+rcl_publisher_t *
+PublisherBase::get_publisher_handle()
+{
+  return &publisher_handle_;
+}
+
+const rcl_publisher_t *
+PublisherBase::get_publisher_handle() const
+{
+  return &publisher_handle_;
+}
+
 bool
 PublisherBase::operator==(const rmw_gid_t & gid) const
 {

rclcpp/src/rclcpp/service.cpp

@@ -46,13 +46,25 @@ ServiceBase::get_service_name()
   return this->service_name_;
 }
 
-const rcl_service_t *
+rcl_service_t *
 ServiceBase::get_service_handle()
 {
   return service_handle_;
 }
 
+const rcl_service_t *
+ServiceBase::get_service_handle() const
+{
+  return service_handle_;
+}
+
 rcl_node_t *
+ServiceBase::get_rcl_node_handle()
+{
+  return node_handle_.get();
+}
+
+const rcl_node_t *
 ServiceBase::get_rcl_node_handle() const
 {
   return node_handle_.get();

rclcpp/src/rclcpp/subscription.cpp

@@ -79,6 +79,12 @@ SubscriptionBase::get_topic_name() const
   return rcl_subscription_get_topic_name(&subscription_handle_);
 }
 
+rcl_subscription_t *
+SubscriptionBase::get_subscription_handle()
+{
+  return &subscription_handle_;
+}
+
 const rcl_subscription_t *
 SubscriptionBase::get_subscription_handle() const
 {