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/include/rclcpp/callback_group.hpp

@@ -21,9 +21,9 @@
 #include <vector>
 
 #include "rclcpp/client.hpp"
-#include "rclcpp/publisher.hpp"
+#include "rclcpp/publisher_base.hpp"
 #include "rclcpp/service.hpp"
-#include "rclcpp/subscription.hpp"
+#include "rclcpp/subscription_base.hpp"
 #include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rclcpp/waitable.hpp"

rclcpp/include/rclcpp/create_publisher.hpp

@@ -37,7 +37,7 @@ namespace rclcpp
 template<
   typename MessageT,
   typename AllocatorT = std::allocator<void>,
-  typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>,
+  typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
   typename NodeT>
 std::shared_ptr<PublisherT>
 create_publisher(
@@ -46,43 +46,23 @@ create_publisher(
   const rclcpp::QoS & qos,
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
-))
+  )
+)
 {
+  // Extract the NodeTopicsInterface from the NodeT.
   using rclcpp::node_interfaces::get_node_topics_interface;
   auto node_topics = get_node_topics_interface(node);
 
-  std::shared_ptr<AllocatorT> allocator = options.allocator;
+  // Create the publisher.
-  if (!allocator) {
-    allocator = std::make_shared<AllocatorT>();
-  }
-
-  bool use_intra_process;
-  switch (options.use_intra_process_comm) {
-    case IntraProcessSetting::Enable:
-      use_intra_process = true;
-      break;
-    case IntraProcessSetting::Disable:
-      use_intra_process = false;
-      break;
-    case IntraProcessSetting::NodeDefault:
-      use_intra_process = node_topics->get_node_base_interface()->get_use_intra_process_default();
-      break;
-    default:
-      throw std::runtime_error("Unrecognized IntraProcessSetting value");
-      break;
-  }
-
-  // TODO(wjwwood): convert all of the interfaces to use QoS and PublisherOptionsBase
   auto pub = node_topics->create_publisher(
     topic_name,
-    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(
+    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(options),
-      options.event_callbacks,
+    qos
-      allocator
-    ),
-    options.template to_rcl_publisher_options<MessageT>(qos),
-    use_intra_process
   );
+
+  // Add the publisher to the node topics interface.
   node_topics->add_publisher(pub, options.callback_group);
+
   return std::dynamic_pointer_cast<PublisherT>(pub);
 }
 

rclcpp/include/rclcpp/create_subscription.hpp

@@ -42,6 +42,10 @@ template<
   typename CallbackMessageT =
   typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
   typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
+  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT,
+    AllocatorT
+  >,
   typename NodeT>
 typename std::shared_ptr<SubscriptionT>
 create_subscription(
@@ -52,48 +56,21 @@ create_subscription(
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
   ),
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
-    CallbackMessageT, AllocatorT>::SharedPtr
+    MessageMemoryStrategyT::create_default()
-  msg_mem_strat = nullptr)
+  )
+)
 {
   using rclcpp::node_interfaces::get_node_topics_interface;
   auto node_topics = get_node_topics_interface(std::forward<NodeT>(node));
 
-  if (!msg_mem_strat) {
+  auto factory = rclcpp::create_subscription_factory<MessageT>(
-    using rclcpp::message_memory_strategy::MessageMemoryStrategy;
+    std::forward<CallbackT>(callback),
-    msg_mem_strat = MessageMemoryStrategy<CallbackMessageT, AllocatorT>::create_default();
+    options,
-  }
+    msg_mem_strat
+  );
 
-  std::shared_ptr<AllocatorT> allocator = options.allocator;
+  auto sub = node_topics->create_subscription(topic_name, factory, qos);
-  if (!allocator) {
-    allocator = std::make_shared<AllocatorT>();
-  }
-  auto factory = rclcpp::create_subscription_factory
-    <MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
-    std::forward<CallbackT>(callback), options.event_callbacks, msg_mem_strat, allocator);
-
-  bool use_intra_process;
-  switch (options.use_intra_process_comm) {
-    case IntraProcessSetting::Enable:
-      use_intra_process = true;
-      break;
-    case IntraProcessSetting::Disable:
-      use_intra_process = false;
-      break;
-    case IntraProcessSetting::NodeDefault:
-      use_intra_process = node_topics->get_node_base_interface()->get_use_intra_process_default();
-      break;
-    default:
-      throw std::runtime_error("Unrecognized IntraProcessSetting value");
-      break;
-  }
-
-  // TODO(wjwwood): convert all of the interfaces to use QoS and SubscriptionOptionsBase
-  auto sub = node_topics->create_subscription(
-    topic_name,
-    factory,
-    options.template to_rcl_subscription_options<MessageT>(qos),
-    use_intra_process);
   node_topics->add_subscription(sub, options.callback_group);
   return std::dynamic_pointer_cast<SubscriptionT>(sub);
 }

rclcpp/include/rclcpp/detail/README.md

@@ -0,0 +1,3 @@
+Notice that headers in this folder should only provide symbols in the rclcpp::detail namespace.
+
+Also that these headers are not considered part of the public API and are subject to change without notice.

rclcpp/include/rclcpp/detail/resolve_use_intra_process.hpp

@@ -0,0 +1,55 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DETAIL__RESOLVE_USE_INTRA_PROCESS_HPP_
+#define RCLCPP__DETAIL__RESOLVE_USE_INTRA_PROCESS_HPP_
+
+#include <stdexcept>
+
+#include "rclcpp/intra_process_setting.hpp"
+
+namespace rclcpp
+{
+
+namespace detail
+{
+
+template<typename OptionsT, typename NodeBaseT>
+bool
+resolve_use_intra_process(const OptionsT & options, const NodeBaseT & node_base)
+{
+  bool use_intra_process;
+  switch (options.use_intra_process_comm) {
+    case IntraProcessSetting::Enable:
+      use_intra_process = true;
+      break;
+    case IntraProcessSetting::Disable:
+      use_intra_process = false;
+      break;
+    case IntraProcessSetting::NodeDefault:
+      use_intra_process = node_base.get_use_intra_process_default();
+      break;
+    default:
+      throw std::runtime_error("Unrecognized IntraProcessSetting value");
+      break;
+  }
+
+  return use_intra_process;
+}
+
+}  // namespace detail
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DETAIL__RESOLVE_USE_INTRA_PROCESS_HPP_

rclcpp/include/rclcpp/node.hpp

@@ -192,16 +192,18 @@ 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<
+    typename CallbackMessageT =
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>>
+    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
+    typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
+    typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      CallbackMessageT,
+      AllocatorT
+    >
+  >
   std::shared_ptr<SubscriptionT>
   create_subscription(
     const std::string & topic_name,
@@ -209,10 +211,10 @@ public:
     CallbackT && callback,
     const SubscriptionOptionsWithAllocator<AllocatorT> & options =
     SubscriptionOptionsWithAllocator<AllocatorT>(),
-    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT
+      MessageMemoryStrategyT::create_default()
-    >::SharedPtr
+    )
-    msg_mem_strat = nullptr);
+  );
 
   /// Create a timer.
   /**

rclcpp/include/rclcpp/node_impl.hpp

@@ -83,16 +83,16 @@ template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT,
-  typename SubscriptionT>
+  typename CallbackMessageT,
+  typename SubscriptionT,
+  typename MessageMemoryStrategyT>
 std::shared_ptr<SubscriptionT>
 Node::create_subscription(
   const std::string & topic_name,
   const rclcpp::QoS & qos,
   CallbackT && callback,
   const SubscriptionOptionsWithAllocator<AllocatorT> & options,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
-    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>::SharedPtr
-  msg_mem_strat)
 {
   return rclcpp::create_subscription<MessageT>(
     *this,

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

@@ -49,8 +49,7 @@ public:
   create_publisher(
     const std::string & topic_name,
     const rclcpp::PublisherFactory & publisher_factory,
-    const rcl_publisher_options_t & publisher_options,
+    const rclcpp::QoS & qos) override;
-    bool use_intra_process) override;
 
   RCLCPP_PUBLIC
   void
@@ -63,8 +62,7 @@ public:
   create_subscription(
     const std::string & topic_name,
     const rclcpp::SubscriptionFactory & subscription_factory,
-    const rcl_subscription_options_t & subscription_options,
+    const rclcpp::QoS & qos) override;
-    bool use_intra_process) override;
 
   RCLCPP_PUBLIC
   void

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -50,8 +50,7 @@ public:
   create_publisher(
     const std::string & topic_name,
     const rclcpp::PublisherFactory & publisher_factory,
-    const rcl_publisher_options_t & publisher_options,
+    const rclcpp::QoS & qos) = 0;
-    bool use_intra_process) = 0;
 
   RCLCPP_PUBLIC
   virtual
@@ -66,8 +65,7 @@ public:
   create_subscription(
     const std::string & topic_name,
     const rclcpp::SubscriptionFactory & subscription_factory,
-    const rcl_subscription_options_t & subscription_options,
+    const rclcpp::QoS & qos) = 0;
-    bool use_intra_process) = 0;
 
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/publisher.hpp

@@ -32,9 +32,12 @@
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
+#include "rclcpp/detail/resolve_use_intra_process.hpp"
 #include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/publisher_base.hpp"
+#include "rclcpp/publisher_options.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -42,40 +45,78 @@ namespace rclcpp
 {
 
 /// A publisher publishes messages of any type to a topic.
-template<typename MessageT, typename Alloc = std::allocator<void>>
+template<typename MessageT, typename AllocatorT = std::allocator<void>>
 class Publisher : public PublisherBase
 {
 public:
-  using MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>;
+  using MessageAllocatorTraits = allocator::AllocRebind<MessageT, AllocatorT>;
-  using MessageAlloc = typename MessageAllocTraits::allocator_type;
+  using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
-  using MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>;
+  using MessageDeleter = allocator::Deleter<MessageAllocator, MessageT>;
   using MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>;
   using MessageSharedPtr = std::shared_ptr<const MessageT>;
 
-  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, Alloc>)
+  RCLCPP_SMART_PTR_DEFINITIONS(Publisher<MessageT, AllocatorT>)
 
   Publisher(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic,
-    const rcl_publisher_options_t & publisher_options,
+    const rclcpp::QoS & qos,
-    const PublisherEventCallbacks & event_callbacks,
+    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
-    const std::shared_ptr<MessageAlloc> & allocator)
   : PublisherBase(
       node_base,
       topic,
       *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
-      publisher_options),
+      options.template to_rcl_publisher_options<MessageT>(qos)),
-    message_allocator_(allocator)
+    options_(options),
+    message_allocator_(new MessageAllocator(*options.get_allocator().get()))
   {
     allocator::set_allocator_for_deleter(&message_deleter_, message_allocator_.get());
 
-    if (event_callbacks.deadline_callback) {
+    if (options_.event_callbacks.deadline_callback) {
       this->add_event_handler(
-        event_callbacks.deadline_callback,
+        options_.event_callbacks.deadline_callback,
         RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
     }
-    if (event_callbacks.liveliness_callback) {
+    if (options_.event_callbacks.liveliness_callback) {
-      this->add_event_handler(event_callbacks.liveliness_callback, RCL_PUBLISHER_LIVELINESS_LOST);
+      this->add_event_handler(
+        options_.event_callbacks.liveliness_callback,
+        RCL_PUBLISHER_LIVELINESS_LOST);
+    }
+
+    // Setup continues in the post construction method, post_init_setup().
+  }
+
+  /// Called post construction, so that construction may continue after shared_from_this() works.
+  virtual
+  void
+  post_init_setup(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const std::string & topic,
+    const rclcpp::QoS & qos,
+    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
+  {
+    // Topic is unused for now.
+    (void)topic;
+
+    // If needed, setup intra process communication.
+    if (rclcpp::detail::resolve_use_intra_process(options_, *node_base)) {
+      auto context = node_base->get_context();
+      // Get the intra process manager instance for this context.
+      auto ipm = context->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
+      // Register the publisher with the intra process manager.
+      if (qos.get_rmw_qos_profile().history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
+        throw std::invalid_argument(
+                "intraprocess communication is not allowed with keep all history qos policy");
+      }
+      if (qos.get_rmw_qos_profile().depth == 0) {
+        throw std::invalid_argument(
+                "intraprocess communication is not allowed with a zero qos history depth value");
+      }
+      uint64_t intra_process_publisher_id = ipm->add_publisher(this->shared_from_this());
+      this->setup_intra_process(
+        intra_process_publisher_id,
+        ipm,
+        options.template to_rcl_publisher_options<MessageT>(qos));
     }
   }
 
@@ -87,7 +128,7 @@ public:
   {
     return mapped_ring_buffer::MappedRingBuffer<
       MessageT,
-      typename Publisher<MessageT, Alloc>::MessageAlloc
+      typename Publisher<MessageT, AllocatorT>::MessageAllocator
     >::make_shared(size, this->get_allocator());
   }
 
@@ -138,8 +179,8 @@ public:
     // Otherwise we have to allocate memory in a unique_ptr and pass it along.
     // As the message is not const, a copy should be made.
     // A shared_ptr<const MessageT> could also be constructed here.
-    auto ptr = MessageAllocTraits::allocate(*message_allocator_.get(), 1);
+    auto ptr = MessageAllocatorTraits::allocate(*message_allocator_.get(), 1);
-    MessageAllocTraits::construct(*message_allocator_.get(), ptr, msg);
+    MessageAllocatorTraits::construct(*message_allocator_.get(), ptr, msg);
     MessageUniquePtr unique_msg(ptr, message_deleter_);
     this->publish(std::move(unique_msg));
   }
@@ -150,7 +191,8 @@ public:
     return this->do_serialized_publish(&serialized_msg);
   }
 
-  std::shared_ptr<MessageAlloc> get_allocator() const
+  std::shared_ptr<MessageAllocator>
+  get_allocator() const
   {
     return message_allocator_;
   }
@@ -224,7 +266,7 @@ protected:
       throw std::runtime_error("cannot publisher msg which is a null pointer");
     }
     uint64_t message_seq =
-      ipm->template store_intra_process_message<MessageT, Alloc>(publisher_id, msg);
+      ipm->template store_intra_process_message<MessageT, AllocatorT>(publisher_id, msg);
     return message_seq;
   }
 
@@ -242,11 +284,13 @@ protected:
       throw std::runtime_error("cannot publisher msg which is a null pointer");
     }
     uint64_t message_seq =
-      ipm->template store_intra_process_message<MessageT, Alloc>(publisher_id, std::move(msg));
+      ipm->template store_intra_process_message<MessageT, AllocatorT>(publisher_id, std::move(msg));
     return message_seq;
   }
 
-  std::shared_ptr<MessageAlloc> message_allocator_;
+  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> options_;
+
+  std::shared_ptr<MessageAllocator> message_allocator_;
 
   MessageDeleter message_deleter_;
 };

rclcpp/include/rclcpp/publisher_base.hpp

@@ -52,7 +52,7 @@ namespace intra_process_manager
 class IntraProcessManager;
 }
 
-class PublisherBase
+class PublisherBase : public std::enable_shared_from_this<PublisherBase>
 {
   friend ::rclcpp::node_interfaces::NodeTopicsInterface;
 
@@ -184,8 +184,9 @@ public:
 
   /// Implementation utility function that creates a typed mapped ring buffer.
   RCLCPP_PUBLIC
+  virtual
   mapped_ring_buffer::MappedRingBufferBase::SharedPtr
-  virtual make_mapped_ring_buffer(size_t size) const;
+  make_mapped_ring_buffer(size_t size) const;
 
   /// Implementation utility function used to setup intra process publishing after creation.
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/publisher_factory.hpp

@@ -24,6 +24,7 @@
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
 #include "rclcpp/publisher.hpp"
+#include "rclcpp/publisher_options.hpp"
 #include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -41,6 +42,9 @@ namespace rclcpp
  * called from a templated "create_publisher" method on the Node class, and
  * is passed to the non-templated "create_publisher" method on the NodeTopics
  * class where it is used to create and setup the Publisher.
+ *
+ * It also handles the two step construction of Publishers, first calling
+ * the constructor and then the post_init_setup() method.
  */
 struct PublisherFactory
 {
@@ -49,38 +53,32 @@ struct PublisherFactory
     rclcpp::PublisherBase::SharedPtr(
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
-      const rcl_publisher_options_t & publisher_options)>;
+      const rclcpp::QoS & qos
+    )>;
 
-  PublisherFactoryFunction create_typed_publisher;
+  const PublisherFactoryFunction create_typed_publisher;
 };
 
-/// Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, Alloc>.
+/// Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, AllocatorT>.
-template<typename MessageT, typename Alloc, typename PublisherT>
+template<typename MessageT, typename AllocatorT, typename PublisherT>
 PublisherFactory
-create_publisher_factory(
+create_publisher_factory(const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
-  const PublisherEventCallbacks & event_callbacks,
-  std::shared_ptr<Alloc> allocator)
 {
-  PublisherFactory factory;
+  PublisherFactory factory {
-
     // factory function that creates a MessageT specific PublisherT
-  factory.create_typed_publisher =
+    [options](
-    [event_callbacks, allocator](
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
-    const rcl_publisher_options_t & publisher_options
+      const rclcpp::QoS & qos
     ) -> std::shared_ptr<PublisherT>
     {
-      auto options_copy = publisher_options;
+      auto publisher = std::make_shared<PublisherT>(node_base, topic_name, qos, options);
-      auto message_alloc = std::make_shared<typename PublisherT::MessageAlloc>(*allocator.get());
+      // This is used for setting up things like intra process comms which
-      options_copy.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc.get());
+      // require this->shared_from_this() which cannot be called from
-
+      // the constructor.
-      return std::make_shared<PublisherT>(
+      publisher->post_init_setup(node_base, topic_name, qos, options);
-        node_base,
+      return publisher;
-        topic_name,
+    }
-        options_copy,
-        event_callbacks,
-        message_alloc);
   };
 
   // return the factory now that it is populated

rclcpp/include/rclcpp/publisher_options.hpp

@@ -19,16 +19,21 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/callback_group.hpp"
+#include "rcl/publisher.h"
+
+#include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
-#include "rclcpp/visibility_control.hpp"
-#include "rcl/publisher.h"
 
 namespace rclcpp
 {
 
+namespace callback_group
+{
+class CallbackGroup;
+}  // namespace callback_group
+
 /// Non-templated part of PublisherOptionsWithAllocator<Allocator>.
 struct PublisherOptionsBase
 {
@@ -39,7 +44,7 @@ struct PublisherOptionsBase
   PublisherEventCallbacks event_callbacks;
 
   /// Callback group in which the waitable items from the publisher should be placed.
-  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group;
+  std::shared_ptr<rclcpp::callback_group::CallbackGroup> callback_group;
 };
 
 /// Structure containing optional configuration for Publishers.
@@ -64,11 +69,26 @@ struct PublisherOptionsWithAllocator : public PublisherOptionsBase
     rcl_publisher_options_t result;
     using AllocatorTraits = std::allocator_traits<Allocator>;
     using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;
-    auto message_alloc = std::make_shared<MessageAllocatorT>(*allocator.get());
+    auto message_alloc = std::make_shared<MessageAllocatorT>(*this->get_allocator().get());
-    result.allocator = allocator::get_rcl_allocator<MessageT>(*message_alloc);
+    result.allocator = rclcpp::allocator::get_rcl_allocator<MessageT>(*message_alloc);
     result.qos = qos.get_rmw_qos_profile();
     return result;
   }
+
+  /// Get the allocator, creating one if needed.
+  std::shared_ptr<Allocator>
+  get_allocator() const
+  {
+    if (!this->allocator) {
+      // TODO(wjwwood): I would like to use the commented line instead, but
+      //   cppcheck 1.89 fails with:
+      //     Syntax Error: AST broken, binary operator '>' doesn't have two operands.
+      // return std::make_shared<Allocator>();
+      std::shared_ptr<Allocator> tmp(new Allocator());
+      return tmp;
+    }
+    return this->allocator;
+  }
 };
 
 using PublisherOptions = PublisherOptionsWithAllocator<std::allocator<void>>;

rclcpp/include/rclcpp/subscription.hpp

@@ -32,13 +32,16 @@
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 
 #include "rclcpp/any_subscription_callback.hpp"
+#include "rclcpp/detail/resolve_use_intra_process.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/subscription_base.hpp"
+#include "rclcpp/subscription_options.hpp"
 #include "rclcpp/subscription_traits.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -55,15 +58,19 @@ class NodeTopicsInterface;
 /// Subscription implementation, templated on the type of message this subscription receives.
 template<
   typename CallbackMessageT,
-  typename Alloc = std::allocator<void>>
+  typename AllocatorT = std::allocator<void>,
+  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT,
+    AllocatorT
+  >>
 class Subscription : public SubscriptionBase
 {
   friend class rclcpp::node_interfaces::NodeTopicsInterface;
 
 public:
-  using MessageAllocTraits = allocator::AllocRebind<CallbackMessageT, Alloc>;
+  using MessageAllocatorTraits = allocator::AllocRebind<CallbackMessageT, AllocatorT>;
-  using MessageAlloc = typename MessageAllocTraits::allocator_type;
+  using MessageAllocator = typename MessageAllocatorTraits::allocator_type;
-  using MessageDeleter = allocator::Deleter<MessageAlloc, CallbackMessageT>;
+  using MessageDeleter = allocator::Deleter<MessageAllocator, CallbackMessageT>;
   using ConstMessageSharedPtr = std::shared_ptr<const CallbackMessageT>;
   using MessageUniquePtr = std::unique_ptr<CallbackMessageT, MessageDeleter>;
 
@@ -71,46 +78,66 @@ public:
 
   /// Default constructor.
   /**
-   * The constructor for a subscription is almost never called directly. Instead, subscriptions
+   * The constructor for a subscription is almost never called directly.
-   * should be instantiated through Node::create_subscription.
+   * Instead, subscriptions should be instantiated through the function
-   * \param[in] node_handle rcl representation of the node that owns this subscription.
+   * rclcpp::create_subscription().
+   *
+   * \param[in] node_base NodeBaseInterface pointer that is used in part of the setup.
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
-   * \param[in] subscription_options options for the subscription.
    * \param[in] callback User defined callback to call when a message is received.
-   * \param[in] memory_strategy The memory strategy to be used for managing message memory.
+   * \param[in] options options for the subscription.
+   * \param[in] message_memory_strategy The memory strategy to be used for managing message memory.
    */
   Subscription(
-    std::shared_ptr<rcl_node_t> node_handle,
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const rosidl_message_type_support_t & type_support_handle,
     const std::string & topic_name,
-    const rcl_subscription_options_t & subscription_options,
+    const rclcpp::QoS & qos,
-    AnySubscriptionCallback<CallbackMessageT, Alloc> callback,
+    AnySubscriptionCallback<CallbackMessageT, AllocatorT> callback,
-    const SubscriptionEventCallbacks & event_callbacks,
+    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
-    typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr
+    typename MessageMemoryStrategyT::SharedPtr message_memory_strategy)
-    memory_strategy = message_memory_strategy::MessageMemoryStrategy<CallbackMessageT,
-    Alloc>::create_default())
   : SubscriptionBase(
-      node_handle,
+      node_base,
       type_support_handle,
       topic_name,
-      subscription_options,
+      options.template to_rcl_subscription_options<CallbackMessageT>(qos),
       rclcpp::subscription_traits::is_serialized_subscription_argument<CallbackMessageT>::value),
     any_callback_(callback),
-    message_memory_strategy_(memory_strategy)
+    message_memory_strategy_(message_memory_strategy)
   {
-    if (event_callbacks.deadline_callback) {
+    if (options.event_callbacks.deadline_callback) {
       this->add_event_handler(
-        event_callbacks.deadline_callback,
+        options.event_callbacks.deadline_callback,
         RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
     }
-    if (event_callbacks.liveliness_callback) {
+    if (options.event_callbacks.liveliness_callback) {
       this->add_event_handler(
-        event_callbacks.liveliness_callback,
+        options.event_callbacks.liveliness_callback,
         RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
     }
   }
 
+  /// Called after construction to continue setup that requires shared_from_this().
+  void
+  post_init_setup(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const rclcpp::QoS & qos,
+    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
+  {
+    // Setup intra process publishing if requested.
+    if (rclcpp::detail::resolve_use_intra_process(options, *node_base)) {
+      auto context = node_base->get_context();
+      using rclcpp::intra_process_manager::IntraProcessManager;
+      auto ipm = context->get_sub_context<IntraProcessManager>();
+      uint64_t intra_process_subscription_id = ipm->add_subscription(this->shared_from_this());
+      this->setup_intra_process(
+        intra_process_subscription_id,
+        ipm,
+        options.template to_rcl_subscription_options<CallbackMessageT>(qos));
+    }
+  }
+
   /// Support dynamically setting the message memory strategy.
   /**
    * Behavior may be undefined if called while the subscription could be executing.
@@ -118,7 +145,7 @@ public:
    */
   void set_message_memory_strategy(
     typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT,
-    Alloc>::SharedPtr message_memory_strategy)
+    AllocatorT>::SharedPtr message_memory_strategy)
   {
     message_memory_strategy_ = message_memory_strategy;
   }
@@ -237,7 +264,7 @@ private:
       throw std::runtime_error(
               "intra process take called after destruction of intra process manager");
     }
-    ipm->template take_intra_process_message<CallbackMessageT, Alloc>(
+    ipm->template take_intra_process_message<CallbackMessageT, AllocatorT>(
       publisher_id, message_sequence, subscription_id, message);
   }
 
@@ -253,7 +280,7 @@ private:
       throw std::runtime_error(
               "intra process take called after destruction of intra process manager");
     }
-    ipm->template take_intra_process_message<CallbackMessageT, Alloc>(
+    ipm->template take_intra_process_message<CallbackMessageT, AllocatorT>(
       publisher_id, message_sequence, subscription_id, message);
   }
 
@@ -274,8 +301,8 @@ private:
 
   RCLCPP_DISABLE_COPY(Subscription)
 
-  AnySubscriptionCallback<CallbackMessageT, Alloc> any_callback_;
+  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_callback_;
-  typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr
+  typename message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, AllocatorT>::SharedPtr
     message_memory_strategy_;
 };
 

rclcpp/include/rclcpp/subscription_base.hpp

@@ -36,7 +36,7 @@ namespace rclcpp
 
 namespace node_interfaces
 {
-class NodeTopicsInterface;
+class NodeBaseInterface;
 }  // namespace node_interfaces
 
 namespace intra_process_manager
@@ -50,14 +50,14 @@ class IntraProcessManager;
 
 /// Virtual base class for subscriptions. This pattern allows us to iterate over different template
 /// specializations of Subscription, among other things.
-class SubscriptionBase
+class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(SubscriptionBase)
 
   /// Default constructor.
   /**
-   * \param[in] node_handle The rcl representation of the node that owns this subscription.
+   * \param[in] node_base NodeBaseInterface pointer used in parts of the setup.
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
    * \param[in] subscription_options options for the subscription.
@@ -65,7 +65,7 @@ public:
    */
   RCLCPP_PUBLIC
   SubscriptionBase(
-    std::shared_ptr<rcl_node_t> node_handle,
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const rosidl_message_type_support_t & type_support_handle,
     const std::string & topic_name,
     const rcl_subscription_options_t & subscription_options,
@@ -114,12 +114,16 @@ public:
 
   /// Borrow a new message.
   /** \return Shared pointer to the fresh message. */
-  virtual std::shared_ptr<void>
+  RCLCPP_PUBLIC
+  virtual
+  std::shared_ptr<void>
   create_message() = 0;
 
   /// Borrow a new serialized message
   /** \return Shared pointer to a rcl_message_serialized_t. */
-  virtual std::shared_ptr<rcl_serialized_message_t>
+  RCLCPP_PUBLIC
+  virtual
+  std::shared_ptr<rcl_serialized_message_t>
   create_serialized_message() = 0;
 
   /// Check if we need to handle the message, and execute the callback if we do.
@@ -127,27 +131,37 @@ public:
    * \param[in] message Shared pointer to the message to handle.
    * \param[in] message_info Metadata associated with this message.
    */
-  virtual void
+  RCLCPP_PUBLIC
+  virtual
+  void
   handle_message(std::shared_ptr<void> & message, const rmw_message_info_t & message_info) = 0;
 
   /// Return the message borrowed in create_message.
   /** \param[in] message Shared pointer to the returned message. */
-  virtual void
+  RCLCPP_PUBLIC
+  virtual
+  void
   return_message(std::shared_ptr<void> & message) = 0;
 
   /// Return the message borrowed in create_serialized_message.
   /** \param[in] message Shared pointer to the returned message. */
-  virtual void
+  RCLCPP_PUBLIC
+  virtual
+  void
   return_serialized_message(std::shared_ptr<rcl_serialized_message_t> & message) = 0;
 
-  virtual void
+  RCLCPP_PUBLIC
+  virtual
+  void
   handle_intra_process_message(
     rcl_interfaces::msg::IntraProcessMessage & ipm,
     const rmw_message_info_t & message_info) = 0;
 
+  RCLCPP_PUBLIC
   const rosidl_message_type_support_t &
   get_message_type_support_handle() const;
 
+  RCLCPP_PUBLIC
   bool
   is_serialized() const;
 
@@ -161,7 +175,9 @@ public:
     std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>;
 
   /// Implemenation detail.
-  void setup_intra_process(
+  RCLCPP_PUBLIC
+  void
+  setup_intra_process(
     uint64_t intra_process_subscription_id,
     IntraProcessManagerWeakPtr weak_ipm,
     const rcl_subscription_options_t & intra_process_options);

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -43,6 +43,9 @@ namespace rclcpp
  * usually called from a templated "create_subscription" method of the Node
  * class, and is passed to the non-templated "create_subscription" method of
  * the NodeTopics class where it is used to create and setup the Subscription.
+ *
+ * It also handles the two step construction of Subscriptions, first calling
+ * the constructor and then the post_init_setup() method.
  */
 struct SubscriptionFactory
 {
@@ -51,70 +54,61 @@ struct SubscriptionFactory
     rclcpp::SubscriptionBase::SharedPtr(
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
-      const rcl_subscription_options_t & subscription_options)>;
+      const rclcpp::QoS & qos)>;
 
-  SubscriptionFactoryFunction create_typed_subscription;
+  const SubscriptionFactoryFunction create_typed_subscription;
-
-  // Function that takes a MessageT from the intra process manager
-  using SetupIntraProcessFunction = std::function<
-    void (
-      rclcpp::intra_process_manager::IntraProcessManager::SharedPtr ipm,
-      rclcpp::SubscriptionBase::SharedPtr subscription,
-      const rcl_subscription_options_t & subscription_options)>;
-
-  SetupIntraProcessFunction setup_intra_process;
 };
 
 /// Return a SubscriptionFactory with functions for creating a SubscriptionT<MessageT, Alloc>.
 template<
   typename MessageT,
   typename CallbackT,
-  typename Alloc,
+  typename AllocatorT,
-  typename CallbackMessageT,
+  typename CallbackMessageT =
-  typename SubscriptionT>
+  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
+  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
+  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT,
+    AllocatorT
+  >>
 SubscriptionFactory
 create_subscription_factory(
   CallbackT && callback,
-  const SubscriptionEventCallbacks & event_callbacks,
+  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
-    CallbackMessageT, Alloc>::SharedPtr
-  msg_mem_strat,
-  std::shared_ptr<Alloc> allocator)
 {
-  SubscriptionFactory factory;
+  auto allocator = options.get_allocator();
 
   using rclcpp::AnySubscriptionCallback;
-  AnySubscriptionCallback<CallbackMessageT, Alloc> any_subscription_callback(allocator);
+  AnySubscriptionCallback<CallbackMessageT, AllocatorT> any_subscription_callback(allocator);
   any_subscription_callback.set(std::forward<CallbackT>(callback));
 
-  auto message_alloc =
+  SubscriptionFactory factory {
-    std::make_shared<typename Subscription<CallbackMessageT, Alloc>::MessageAlloc>();
-
     // factory function that creates a MessageT specific SubscriptionT
-  factory.create_typed_subscription =
+    [options, msg_mem_strat, any_subscription_callback](
-    [allocator, msg_mem_strat, any_subscription_callback, event_callbacks, message_alloc](
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
-    const rcl_subscription_options_t & subscription_options
+      const rclcpp::QoS & qos
     ) -> rclcpp::SubscriptionBase::SharedPtr
     {
-      auto options_copy = subscription_options;
-      options_copy.allocator =
-        rclcpp::allocator::get_rcl_allocator<CallbackMessageT>(*message_alloc.get());
-
       using rclcpp::Subscription;
       using rclcpp::SubscriptionBase;
 
-      auto sub = Subscription<CallbackMessageT, Alloc>::make_shared(
+      auto sub = Subscription<CallbackMessageT, AllocatorT>::make_shared(
-        node_base->get_shared_rcl_node_handle(),
+        node_base,
         *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>(),
         topic_name,
-        options_copy,
+        qos,
         any_subscription_callback,
-        event_callbacks,
+        options,
         msg_mem_strat);
+      // This is used for setting up things like intra process comms which
+      // require this->shared_from_this() which cannot be called from
+      // the constructor.
+      sub->post_init_setup(node_base, qos, options);
       auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
       return sub_base_ptr;
+    }
   };
 
   // return the factory now that it is populated

rclcpp/include/rclcpp/subscription_options.hpp

@@ -70,6 +70,16 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
     result.qos = qos.get_rmw_qos_profile();
     return result;
   }
+
+  /// Get the allocator, creating one if needed.
+  std::shared_ptr<Allocator>
+  get_allocator() const
+  {
+    if (!this->allocator) {
+      return std::make_shared<Allocator>();
+    }
+    return this->allocator;
+  }
 };
 
 using SubscriptionOptions = SubscriptionOptionsWithAllocator<std::allocator<void>>;

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

@@ -34,36 +34,10 @@ rclcpp::PublisherBase::SharedPtr
 NodeTopics::create_publisher(
   const std::string & topic_name,
   const rclcpp::PublisherFactory & publisher_factory,
-  const rcl_publisher_options_t & publisher_options,
+  const rclcpp::QoS & qos)
-  bool use_intra_process)
 {
-  // Create the MessageT specific Publisher using the factory, but store it as PublisherBase.
+  // Create the MessageT specific Publisher using the factory, but return it as PublisherBase.
-  auto publisher = publisher_factory.create_typed_publisher(
+  return publisher_factory.create_typed_publisher(node_base_, topic_name, qos);
-    node_base_, topic_name, publisher_options);
-
-  // Setup intra process publishing if requested.
-  if (use_intra_process) {
-    auto context = node_base_->get_context();
-    // Get the intra process manager instance for this context.
-    auto ipm = context->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
-    // Register the publisher with the intra process manager.
-    if (publisher_options.qos.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
-      throw std::invalid_argument(
-              "intraprocess communication is not allowed with keep all history qos policy");
-    }
-    if (publisher_options.qos.depth == 0) {
-      throw std::invalid_argument(
-              "intraprocess communication is not allowed with a zero qos history depth value");
-    }
-    uint64_t intra_process_publisher_id = ipm->add_publisher(publisher);
-    publisher->setup_intra_process(
-      intra_process_publisher_id,
-      ipm,
-      publisher_options);
-  }
-
-  // Return the completed publisher.
-  return publisher;
 }
 
 void
@@ -99,25 +73,10 @@ rclcpp::SubscriptionBase::SharedPtr
 NodeTopics::create_subscription(
   const std::string & topic_name,
   const rclcpp::SubscriptionFactory & subscription_factory,
-  const rcl_subscription_options_t & subscription_options,
+  const rclcpp::QoS & qos)
-  bool use_intra_process)
 {
-  auto subscription = subscription_factory.create_typed_subscription(
+  // Create the MessageT specific Subscription using the factory, but return a SubscriptionBase.
-    node_base_, topic_name, subscription_options);
+  return subscription_factory.create_typed_subscription(node_base_, topic_name, qos);
-
-  // Setup intra process publishing if requested.
-  if (use_intra_process) {
-    auto context = node_base_->get_context();
-    auto ipm =
-      context->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
-    uint64_t intra_process_subscription_id = ipm->add_subscription(subscription);
-    auto options_copy = subscription_options;
-    options_copy.ignore_local_publications = false;
-    subscription->setup_intra_process(intra_process_subscription_id, ipm, options_copy);
-  }
-
-  // Return the completed subscription.
-  return subscription;
 }
 
 void

rclcpp/src/rclcpp/subscription_base.cpp

@@ -23,6 +23,7 @@
 #include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/intra_process_manager.hpp"
 #include "rclcpp/logging.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
 
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
@@ -30,18 +31,18 @@
 using rclcpp::SubscriptionBase;
 
 SubscriptionBase::SubscriptionBase(
-  std::shared_ptr<rcl_node_t> node_handle,
+  rclcpp::node_interfaces::NodeBaseInterface * node_base,
   const rosidl_message_type_support_t & type_support_handle,
   const std::string & topic_name,
   const rcl_subscription_options_t & subscription_options,
   bool is_serialized)
-: node_handle_(node_handle),
+: node_handle_(node_base->get_shared_rcl_node_handle()),
   use_intra_process_(false),
   intra_process_subscription_id_(0),
   type_support_(type_support_handle),
   is_serialized_(is_serialized)
 {
-  auto custom_deletor = [node_handle](rcl_subscription_t * rcl_subs)
+  auto custom_deletor = [node_handle = this->node_handle_](rcl_subscription_t * rcl_subs)
     {
       if (rcl_subscription_fini(rcl_subs, node_handle.get()) != RCL_RET_OK) {
         RCLCPP_ERROR(
@@ -167,7 +168,8 @@ SubscriptionBase::get_publisher_count() const
   return inter_process_publisher_count;
 }
 
-void SubscriptionBase::setup_intra_process(
+void
+SubscriptionBase::setup_intra_process(
   uint64_t intra_process_subscription_id,
   IntraProcessManagerWeakPtr weak_ipm,
   const rcl_subscription_options_t & intra_process_options)

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 =
+    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 MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT
+      MessageMemoryStrategyT::create_default()
-    >::SharedPtr
+    )
-    msg_mem_strat = nullptr);
+  );
 
   /// 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 MessageMemoryStrategyT::SharedPtr msg_mem_strat)
-    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>::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
+ * Overrides all publisher functions to check for enabled/disabled state.
- * 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::QoS & qos,
-    const rclcpp::PublisherEventCallbacks event_callbacks,
+    const rclcpp::PublisherOptionsWithAllocator<Alloc> & options)
-    std::shared_ptr<MessageAlloc> allocator)
+  : rclcpp::Publisher<MessageT, Alloc>(node_base, topic, qos, options),
-  : rclcpp::Publisher<MessageT, Alloc>(
-      node_base, topic, publisher_options, event_callbacks, allocator),
     enabled_(false),
     logger_(rclcpp::get_logger("LifecyclePublisher"))
   {