From d33a46c3b69a3c5307a2ddf3029493279a6981f3 Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten@osrfoundation.org>
Date: Tue, 19 Jun 2018 00:20:55 +0200
Subject: [PATCH] comply to new subscription template (#500)

---
 .../include/rclcpp_lifecycle/lifecycle_node.hpp       |  3 ++-
 .../include/rclcpp_lifecycle/lifecycle_node_impl.hpp  | 11 ++++++-----
 rclcpp_lifecycle/test/test_lifecycle_node.cpp         |  9 +++++++++
 3 files changed, 17 insertions(+), 6 deletions(-)

diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
index e4bf37f..e103aea 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -188,7 +188,8 @@ public:
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
     bool ignore_local_publications = false,
-    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
+    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
     msg_mem_strat = nullptr,
     std::shared_ptr<Alloc> allocator = nullptr);
 
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
index 6b683e4..2f8f295 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
@@ -76,22 +76,23 @@ LifecycleNode::create_subscription(
   const rmw_qos_profile_t & qos_profile,
   rclcpp::callback_group::CallbackGroup::SharedPtr group,
   bool ignore_local_publications,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
   msg_mem_strat,
   std::shared_ptr<Alloc> allocator)
 {
+  using CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type;
+
   if (!allocator) {
     allocator = std::make_shared<Alloc>();
   }
 
   if (!msg_mem_strat) {
     using rclcpp::message_memory_strategy::MessageMemoryStrategy;
-    msg_mem_strat = MessageMemoryStrategy<MessageT, Alloc>::create_default();
+    msg_mem_strat = MessageMemoryStrategy<CallbackMessageT, Alloc>::create_default();
   }
 
-  return rclcpp::create_subscription<
-    MessageT, CallbackT, Alloc,
-    rclcpp::Subscription<MessageT, Alloc>>(
+  return rclcpp::create_subscription<MessageT, CallbackT, Alloc, CallbackMessageT, SubscriptionT>(
     this->node_topics_.get(),
     topic_name,
     std::forward<CallbackT>(callback),
diff --git a/rclcpp_lifecycle/test/test_lifecycle_node.cpp b/rclcpp_lifecycle/test/test_lifecycle_node.cpp
index 01153e3..1618782 100644
--- a/rclcpp_lifecycle/test/test_lifecycle_node.cpp
+++ b/rclcpp_lifecycle/test/test_lifecycle_node.cpp
@@ -203,3 +203,12 @@ TEST_F(TestDefaultStateMachine, bad_mood) {
   // check if all callbacks were successfully overwritten
   EXPECT_EQ(static_cast<size_t>(1), test_node->number_of_callbacks);
 }
+
+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);
+
+  SUCCEED();
+}