Merge pull request #147 from ros2/perfect-forwarding

Pass callbacks as universal references

rclcpp/include/rclcpp/client.hpp

@@ -125,7 +125,7 @@ public:
 
   SharedFuture async_send_request(
     typename ServiceT::Request::SharedPtr request,
-    CallbackType cb)
+    CallbackType && cb)
   {
     int64_t sequence_number;
     if (RMW_RET_OK != rmw_send_request(get_client_handle(), request.get(), &sequence_number)) {
@@ -137,7 +137,8 @@ public:
 
     SharedPromise call_promise = std::make_shared<Promise>();
     SharedFuture f(call_promise->get_future());
-    pending_requests_[sequence_number] = std::make_tuple(call_promise, cb, f);
+    pending_requests_[sequence_number] =
+      std::make_tuple(call_promise, std::forward<CallbackType>(cb), f);
     return f;
   }
 

rclcpp/include/rclcpp/node.hpp

@@ -131,7 +131,7 @@ public:
   typename rclcpp::subscription::Subscription<MessageT, Alloc>::SharedPtr
   create_subscription(
     const std::string & topic_name,
-    CallbackT callback,
+    CallbackT && callback,
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
     bool ignore_local_publications = false,
@@ -158,7 +158,7 @@ public:
   create_subscription(
     const std::string & topic_name,
     size_t qos_history_depth,
-    CallbackT callback,
+    CallbackT && callback,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
     bool ignore_local_publications = false,
     typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
@@ -203,11 +203,11 @@ public:
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
   /* Create and return a Service. */
-  template<typename ServiceT, typename FunctorT>
+  template<typename ServiceT, typename CallbackT>
   typename rclcpp::service::Service<ServiceT>::SharedPtr
   create_service(
     const std::string & service_name,
-    FunctorT callback,
+    CallbackT && callback,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/node_impl.hpp

@@ -141,7 +141,7 @@ template<typename MessageT, typename CallbackT, typename Alloc>
 typename rclcpp::subscription::Subscription<MessageT, Alloc>::SharedPtr
 Node::create_subscription(
   const std::string & topic_name,
-  CallbackT callback,
+  CallbackT && callback,
   const rmw_qos_profile_t & qos_profile,
   rclcpp::callback_group::CallbackGroup::SharedPtr group,
   bool ignore_local_publications,
@@ -155,7 +155,7 @@ Node::create_subscription(
 
   rclcpp::subscription::AnySubscriptionCallback<MessageT,
   Alloc> any_subscription_callback(allocator);
-  any_subscription_callback.set(callback);
+  any_subscription_callback.set(std::forward<CallbackT>(callback));
 
   using rosidl_generator_cpp::get_message_type_support_handle;
 
@@ -251,7 +251,7 @@ typename rclcpp::subscription::Subscription<MessageT, Alloc>::SharedPtr
 Node::create_subscription(
   const std::string & topic_name,
   size_t qos_history_depth,
-  CallbackT callback,
+  CallbackT && callback,
   rclcpp::callback_group::CallbackGroup::SharedPtr group,
   bool ignore_local_publications,
   typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
@@ -262,7 +262,7 @@ Node::create_subscription(
   qos.depth = qos_history_depth;
   return this->create_subscription<MessageT, CallbackT, Alloc>(
     topic_name,
-    callback,
+    std::forward<CallbackT>(callback),
     qos,
     group,
     ignore_local_publications,
@@ -313,11 +313,11 @@ Node::create_client(
   return cli;
 }
 
-template<typename ServiceT, typename FunctorT>
+template<typename ServiceT, typename CallbackT>
 typename rclcpp::service::Service<ServiceT>::SharedPtr
 Node::create_service(
   const std::string & service_name,
-  FunctorT callback,
+  CallbackT && callback,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
   using rosidl_generator_cpp::get_service_type_support_handle;
@@ -325,7 +325,7 @@ Node::create_service(
     get_service_type_support_handle<ServiceT>();
 
   rclcpp::service::AnyServiceCallback<ServiceT> any_service_callback;
-  any_service_callback.set(callback);
+  any_service_callback.set(std::forward<CallbackT>(callback));
 
   rmw_service_t * service_handle = rmw_create_service(
     node_handle_.get(), service_type_support_handle, service_name.c_str());

rclcpp/include/rclcpp/parameter_client.hpp

@@ -91,12 +91,12 @@ public:
       void(std::shared_future<rcl_interfaces::msg::ListParametersResult>)
     > callback = nullptr);
 
-  template<typename FunctorT>
+  template<typename CallbackT>
   typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
-  on_parameter_event(FunctorT callback)
+  on_parameter_event(CallbackT && callback)
   {
     return node_->create_subscription<rcl_interfaces::msg::ParameterEvent>(
-      "parameter_events", callback, rmw_qos_profile_parameter_events);
+      "parameter_events", std::forward<CallbackT>(callback), rmw_qos_profile_parameter_events);
   }
 
 private:
@@ -149,11 +149,11 @@ public:
     const std::vector<std::string> & parameter_prefixes,
     uint64_t depth);
 
-  template<typename FunctorT>
+  template<typename CallbackT>
   typename rclcpp::subscription::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
-  on_parameter_event(FunctorT callback)
+  on_parameter_event(CallbackT && callback)
   {
-    return async_parameters_client_->on_parameter_event(callback);
+    return async_parameters_client_->on_parameter_event(std::forward<CallbackT>(callback));
   }
 
 private: