From ad3f5da3a55bdefd7200e6c65c07079469ef7083 Mon Sep 17 00:00:00 2001
From: Esteve Fernandez <esteve@osrfoundation.org>
Date: Wed, 29 Apr 2015 17:40:38 -0700
Subject: [PATCH] Let the compiler deduce the appropriate Service constructor
 to use

---
 rclcpp/include/rclcpp/node.hpp      | 20 +++------------
 rclcpp/include/rclcpp/node_impl.hpp | 38 +++--------------------------
 2 files changed, 6 insertions(+), 52 deletions(-)

diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index 0c9947b..b58f0b4 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -127,25 +127,11 @@ public:
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
   /* Create and return a Service. */
-  template<typename ServiceT, typename FunctorT>
-  typename function_arity<
-    FunctorT,
-    2,
-    typename rclcpp::service::Service<ServiceT>::SharedPtr>::type
+  template<typename ServiceT, typename F>
+  typename rclcpp::service::Service<ServiceT>::SharedPtr
   create_service(
     const std::string & service_name,
-    FunctorT functor,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
-
-  /* Create and return a Service. */
-  template<typename ServiceT, typename FunctorT>
-  typename function_arity<
-    FunctorT,
-    3,
-    typename rclcpp::service::Service<ServiceT>::SharedPtr>::type
-  create_service(
-    const std::string & service_name,
-    FunctorT functor,
+    F callback,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
 private:
diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index 6fc5b04..795dc0a 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -182,17 +182,13 @@ Node::create_client(
   return cli;
 }
 
-template<typename ServiceT, typename FunctorT>
-typename function_arity<
-  FunctorT,
-  2,
-  typename rclcpp::service::Service<ServiceT>::SharedPtr>::type
+template<typename ServiceT, typename F>
+typename rclcpp::service::Service<ServiceT>::SharedPtr
 Node::create_service(
   const std::string & service_name,
-  FunctorT functor,
+  F callback,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  typename rclcpp::service::Service<ServiceT>::CallbackType callback = functor;
   using rosidl_generator_cpp::get_service_type_support_handle;
   auto service_type_support_handle =
     get_service_type_support_handle<ServiceT>();
@@ -209,34 +205,6 @@ Node::create_service(
   return serv;
 }
 
-template<typename ServiceT, typename FunctorT>
-typename function_arity<
-  FunctorT,
-  3,
-  typename rclcpp::service::Service<ServiceT>::SharedPtr>::type
-Node::create_service(
-  const std::string & service_name,
-  FunctorT functor,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
-{
-  typename rclcpp::service::Service<ServiceT>::CallbackWithHeaderType callback_with_header =
-    functor;
-  using rosidl_generator_cpp::get_service_type_support_handle;
-  auto service_type_support_handle =
-    get_service_type_support_handle<ServiceT>();
-
-  rmw_service_t * service_handle = rmw_create_service(
-    this->node_handle_, service_type_support_handle, service_name.c_str());
-
-  auto serv = service::Service<ServiceT>::make_shared(
-    service_handle,
-    service_name,
-    callback_with_header);
-  auto serv_base_ptr = std::dynamic_pointer_cast<service::ServiceBase>(serv);
-  register_service(service_name, serv_base_ptr, group);
-  return serv;
-}
-
 void
 Node::register_service(
   const std::string & service_name,