From d83a947c261cdc97ede46071feec69add63f551d Mon Sep 17 00:00:00 2001
From: Steven Macenski <stevenmacenski@gmail.com>
Date: Wed, 16 Oct 2019 18:31:36 -0700
Subject: [PATCH] template node type for rclcpp action server and clients
 (#892)

Signed-off-by: stevemacenski <stevenmacenski@gmail.com>
---
 rclcpp_action/include/rclcpp_action/create_client.hpp | 4 ++--
 rclcpp_action/include/rclcpp_action/create_server.hpp | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/rclcpp_action/include/rclcpp_action/create_client.hpp b/rclcpp_action/include/rclcpp_action/create_client.hpp
index 762bc5b..6a356ce 100644
--- a/rclcpp_action/include/rclcpp_action/create_client.hpp
+++ b/rclcpp_action/include/rclcpp_action/create_client.hpp
@@ -97,10 +97,10 @@ create_client(
  * \param[in] group The action client will be added to this callback group.
  *   If `nullptr`, then the action client is added to the default callback group.
  */
-template<typename ActionT>
+template<typename ActionT, typename NodeT>
 typename Client<ActionT>::SharedPtr
 create_client(
-  rclcpp::Node::SharedPtr node,
+  NodeT node,
   const std::string & name,
   rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
 {
diff --git a/rclcpp_action/include/rclcpp_action/create_server.hpp b/rclcpp_action/include/rclcpp_action/create_server.hpp
index 604011f..afd24cd 100644
--- a/rclcpp_action/include/rclcpp_action/create_server.hpp
+++ b/rclcpp_action/include/rclcpp_action/create_server.hpp
@@ -128,10 +128,10 @@ create_server(
  * \param group[in] The action server will be added to this callback group.
  *   If `nullptr`, then the action server is added to the default callback group.
  */
-template<typename ActionT>
+template<typename ActionT, typename NodeT>
 typename Server<ActionT>::SharedPtr
 create_server(
-  rclcpp::Node::SharedPtr node,
+  NodeT node,
   const std::string & name,
   typename Server<ActionT>::GoalCallback handle_goal,
   typename Server<ActionT>::CancelCallback handle_cancel,