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clean up publisher and subscription creation logic (#867)

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* 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>
This commit is contained in:
William Woodall 2019-09-25 16:22:06 -07:00 • committed by GitHub
parent 7728d8a38c
commit 81049c42c0
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GPG key ID: 4AEE18F83AFDEB23
22 changed files with 381 additions and 297 deletions
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25
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
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@ -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.
/**