clean up publisher and subscription creation logic (#867)

* streamline creation of publishers after removing deprecated API

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

* use deduced template arguments to cleanup create_subscription

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

* add missing file

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

* streamline creation of subscriptions after removing deprecated API

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

* small subscription code cleanup to match publisher's style

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

* some fixes to rclcpp_lifecycle to match rclcpp

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

* add README to the rclcpp/detail include directory

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

* fixup SubscriptionBase's use of visibility macros

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

* reapply function to create default options, as it is still needed on Windows

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

* address review comments

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

* workaround cppcheck 1.89 syntax error

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

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -166,8 +166,9 @@ public:
   create_publisher(
     const std::string & topic_name,
     const rclcpp::QoS & qos,
-    const PublisherOptionsWithAllocator<AllocatorT> & options =
-    create_default_publisher_options<AllocatorT>()
+    const PublisherOptionsWithAllocator<AllocatorT> & options = (
+      create_default_publisher_options<AllocatorT>()
+    )
   );
 
   /// Create and return a Subscription.
@@ -179,15 +180,17 @@ public:
    * \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 AllocatorT = std::allocator<void>,
-    typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>>
+    typename CallbackMessageT =
+    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
+    typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
+    typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      CallbackMessageT,
+      AllocatorT
+    >>
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
@@ -195,10 +198,10 @@ public:
     CallbackT && callback,
     const SubscriptionOptionsWithAllocator<AllocatorT> & options =
     create_default_subscription_options<AllocatorT>(),
-    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT
-    >::SharedPtr
-    msg_mem_strat = nullptr);
+    typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
+      MessageMemoryStrategyT::create_default()
+    )
+  );
 
   /// Create a timer.
   /**

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp

@@ -59,16 +59,16 @@ template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT,
-  typename SubscriptionT>
+  typename CallbackMessageT,
+  typename SubscriptionT,
+  typename MessageMemoryStrategyT>
 std::shared_ptr<SubscriptionT>
 LifecycleNode::create_subscription(
   const std::string & topic_name,
   const rclcpp::QoS & qos,
   CallbackT && callback,
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>::SharedPtr
-  msg_mem_strat)
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
 {
   return rclcpp::create_subscription<MessageT>(
     *this,

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp

@@ -43,8 +43,7 @@ public:
 
 /// brief child class of rclcpp Publisher class.
 /**
- * Overrides all publisher functions to check for
- * enabled/disabled state.
+ * Overrides all publisher functions to check for enabled/disabled state.
  */
 template<typename MessageT, typename Alloc = std::allocator<void>>
 class LifecyclePublisher : public LifecyclePublisherInterface,
@@ -61,11 +60,9 @@ public:
   LifecyclePublisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic,
-    const rcl_publisher_options_t & publisher_options,
-    const rclcpp::PublisherEventCallbacks event_callbacks,
-    std::shared_ptr<MessageAlloc> allocator)
-  : rclcpp::Publisher<MessageT, Alloc>(
-      node_base, topic, publisher_options, event_callbacks, allocator),
+    const rclcpp::QoS & qos,
+    const rclcpp::PublisherOptionsWithAllocator<Alloc> & options)
+  : rclcpp::Publisher<MessageT, Alloc>(node_base, topic, qos, options),
     enabled_(false),
     logger_(rclcpp::get_logger("LifecyclePublisher"))
   {