change API to encourage users to specify history depth always (#713)

* improve interoperability with rclcpp::Duration and std::chrono

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

* add to_rmw_time to Duration

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

* add new QoS class to rclcpp

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

* changes to NodeBase, NodeTopics, etc in preparation for changes to pub/sub

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

* refactor publisher creation to use new QoS class

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

* refactor subscription creation to use new QoS class

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

* fixing fallout from changes to pub/sub creation

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

* fixed Windows error: no appropriate default constructor available

why? who knows

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

* fixed Windows error: could not deduce template argument for 'PublisherT'

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

* fix missing vftable linker error on Windows

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

* fix more cases of no suitable default constructor errors...

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

* prevent msvc from trying to interpret some cases as functions

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

* uncrustify

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

* cpplint

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

* add C++ version of default action qos

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

* fixing lifecycle subscription signatures

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

* fix allocators (we actually use this already in the pub/sub factory)

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

* suppress cppcheck on false positive syntax error

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

* fix more cppcheck syntax error false positives

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

* fix case where sub-type of QoS is used

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

* fixup get_node_topics_interface.hpp according to reviews and tests

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

* additional fixes based on local testing and CI

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

* another trick to avoid 'no appropriate default constructor available'

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

* fix compiler error with clang on macOS

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

* disable build failure tests until we can get Jenkins to ignore their output

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

* suppress more cppcheck false positives

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

* add missing visibility macros to default QoS profile classes

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

* fix another case of 'no appropriate default constructor available'

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

* unfortunately this actaully fixes a build error on Windows...

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

* fix typos

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

rclcpp_lifecycle/test/test_lifecycle_node.cpp

@@ -217,7 +217,8 @@ TEST_F(TestDefaultStateMachine, lifecycle_subscriber) {
   auto test_node = std::make_shared<MoodyLifecycleNode<GoodMood>>("testnode");
 
   auto cb = [](const std::shared_ptr<lifecycle_msgs::msg::State> msg) {(void) msg;};
-  auto lifecycle_sub = test_node->create_subscription<lifecycle_msgs::msg::State>("~/empty", cb);
+  auto lifecycle_sub =
+    test_node->create_subscription<lifecycle_msgs::msg::State>("~/empty", 10, cb);
 
   SUCCEED();
 }