changed default arguments for Node

changes how the default context is gotten and
adds an option for enabling/disabling intra
process comms

rclcpp/include/rclcpp/contexts/default_context.hpp

@@ -33,6 +33,13 @@ public:
 
 };
 
+DefaultContext::SharedPtr
+get_global_default_context()
+{
+  static DefaultContext::SharedPtr default_context = DefaultContext::make_shared();
+  return default_context;
+}
+
 } // namespace default_context
 } // namespace contexts
 } // namespace rclcpp

rclcpp/include/rclcpp/node.hpp

@@ -103,9 +103,11 @@ public:
   RCLCPP_SMART_PTR_DEFINITIONS(Node);
 
   /* Create a node based on the node name. */
-  Node(const std::string & node_name);
+  Node(const std::string & node_name, bool use_intra_process_comms = false);
   /* Create a node based on the node name and a rclcpp::context::Context. */
-  Node(const std::string & node_name, rclcpp::context::Context::SharedPtr context);
+  Node(
+    const std::string & node_name, rclcpp::context::Context::SharedPtr context,
+    bool use_intra_process_comms = false);
 
   /* Get the name of the node. */
   const std::string &
@@ -214,6 +216,8 @@ private:
   size_t number_of_services_;
   size_t number_of_clients_;
 
+  bool use_intra_process_comms_;
+
   mutable std::mutex mutex_;
 
   std::map<std::string, rclcpp::parameter::ParameterVariant> parameters_;

rclcpp/include/rclcpp/node_impl.hpp

@@ -39,15 +39,20 @@
 using namespace rclcpp;
 using namespace rclcpp::node;
 
-using rclcpp::contexts::default_context::DefaultContext;
-
-Node::Node(const std::string & node_name)
-: Node(node_name, DefaultContext::make_shared())
+Node::Node(const std::string & node_name, bool use_intra_process_comms)
+: Node(
+  node_name,
+  rclcpp::contexts::default_context::get_global_default_context(),
+  use_intra_process_comms)
 {}
 
-Node::Node(const std::string & node_name, context::Context::SharedPtr context)
+Node::Node(
+  const std::string & node_name,
+  context::Context::SharedPtr context,
+  bool use_intra_process_comms)
 : name_(node_name), context_(context),
-  number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0)
+  number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0),
+  use_intra_process_comms_(use_intra_process_comms)
 {
   size_t domain_id = 0;
   char * ros_domain_id = nullptr;
@@ -163,8 +168,7 @@ Node::create_subscription(
   if (!subscriber_handle) {
     // *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
     throw std::runtime_error(
-      std::string("could not create subscription: ") +
-      rmw_get_error_string_safe());
+      std::string("could not create subscription: ") + rmw_get_error_string_safe());
     // *INDENT-ON*
   }
 

rclcpp/include/rclcpp/utilities.hpp

@@ -27,6 +27,7 @@
 #include <string.h>
 #include <thread>
 
+#include <rmw/error_handling.h>
 #include <rmw/macros.h>
 #include <rmw/rmw.h>