From a8baa3ce8899c81a6936205fa9e86183933b6483 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Fri, 3 Dec 2021 16:24:28 -0300
Subject: [PATCH] add node_waitables_ to copy constructor. (backport #1799)
 (#1834)

* add node_waitables_ to copy constructor.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* add node_time_source_ to copy constructor.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* add construction_and_destruction_sub_node for action server.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

Co-authored-by: Abrar Rahman Protyasha <abrar@openrobotics.org>
(cherry picked from commit 301957515a0448de22def36559087b3338c76700)

Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
---
 rclcpp/src/rclcpp/node.cpp         |  2 ++
 rclcpp_action/test/test_server.cpp | 21 +++++++++++++++++++++
 2 files changed, 23 insertions(+)

diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp
index 7cc352b..7f30b36 100644
--- a/rclcpp/src/rclcpp/node.cpp
+++ b/rclcpp/src/rclcpp/node.cpp
@@ -168,6 +168,8 @@ Node::Node(
   node_services_(other.node_services_),
   node_clock_(other.node_clock_),
   node_parameters_(other.node_parameters_),
+  node_time_source_(other.node_time_source_),
+  node_waitables_(other.node_waitables_),
   node_options_(other.node_options_),
   sub_namespace_(extend_sub_namespace(other.get_sub_namespace(), sub_namespace)),
   effective_namespace_(create_effective_namespace(other.get_namespace(), sub_namespace_))
diff --git a/rclcpp_action/test/test_server.cpp b/rclcpp_action/test/test_server.cpp
index c9d780d..bf31c06 100644
--- a/rclcpp_action/test/test_server.cpp
+++ b/rclcpp_action/test/test_server.cpp
@@ -205,6 +205,27 @@ TEST_F(TestServer, construction_and_destruction_wait_set_error)
   }, rclcpp::exceptions::RCLError);
 }
 
+TEST_F(TestServer, construction_and_destruction_sub_node)
+{
+  auto parent_node = std::make_shared<rclcpp::Node>("construct_node", "/rclcpp_action/construct");
+  auto sub_node = parent_node->create_sub_node("construct_sub_node");
+
+  ASSERT_NO_THROW(
+  {
+    using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
+    auto as = rclcpp_action::create_server<Fibonacci>(
+      sub_node, "fibonacci",
+      [](const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>) {
+        return rclcpp_action::GoalResponse::REJECT;
+      },
+      [](std::shared_ptr<GoalHandle>) {
+        return rclcpp_action::CancelResponse::REJECT;
+      },
+      [](std::shared_ptr<GoalHandle>) {});
+    (void)as;
+  });
+}
+
 TEST_F(TestServer, handle_goal_called)
 {
   auto node = std::make_shared<rclcpp::Node>("handle_goal_node", "/rclcpp_action/handle_goal");