Feature/ipm with rclcpp serialized messages

rclcpp/CMakeLists.txt

@@ -74,7 +74,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/experimental/timers_manager.cpp
   src/rclcpp/future_return_code.cpp
   src/rclcpp/generic_publisher.cpp
-  src/rclcpp/generic_subscription.cpp
   src/rclcpp/graph_listener.cpp
   src/rclcpp/guard_condition.cpp
   src/rclcpp/init_options.cpp

rclcpp/include/rclcpp/create_generic_subscription.hpp

@@ -38,7 +38,7 @@ namespace rclcpp
  *
  * \param topics_interface NodeTopicsInterface pointer used in parts of the setup.
  * \param topic_name Topic name
- * \param topic_type Topic type
+ * \param type_support_handle Topic type support
  * \param qos %QoS settings
  * \param callback Callback for new messages of serialized form
  * \param options %Publisher options.
@@ -51,18 +51,18 @@ template<
 std::shared_ptr<GenericSubscription> create_generic_subscription(
   rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
   const std::string & topic_name,
-  const std::string & topic_type,
+  const rosidl_message_type_support_t & type_support_handle,
   const rclcpp::QoS & qos,
   CallbackT && callback,
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
   )
 )
 {
-  auto ts_lib = rclcpp::get_typesupport_library(
-    topic_type, "rosidl_typesupport_cpp");
-
   auto allocator = options.get_allocator();
+  typename GenericSubscription::MessageMemoryStrategyType::SharedPtr msg_mem_strat = (
+    GenericSubscription::MessageMemoryStrategyType::create_default()
+  );
 
   using rclcpp::AnySubscriptionCallback;
   AnySubscriptionCallback<rclcpp::SerializedMessage, AllocatorT>
@@ -71,18 +71,56 @@ std::shared_ptr<GenericSubscription> create_generic_subscription(
 
   auto subscription = std::make_shared<GenericSubscription>(
     topics_interface->get_node_base_interface(),
-    std::move(ts_lib),
+    type_support_handle,
     topic_name,
-    topic_type,
     qos,
     any_subscription_callback,
-    options);
+    options,
+    msg_mem_strat);
 
   topics_interface->add_subscription(subscription, options.callback_group);
 
   return subscription;
 }
 
+/// Create and return a GenericSubscription.
+/**
+ * The returned pointer will never be empty, but this function can throw various exceptions, for
+ * instance when the message's package can not be found on the AMENT_PREFIX_PATH.
+ *
+ * \param topics_interface NodeTopicsInterface pointer used in parts of the setup.
+ * \param topic_name Topic name
+ * \param topic_type Topic type
+ * \param qos %QoS settings
+ * \param callback Callback for new messages of serialized form
+ * \param options %Publisher options.
+ * Not all publisher options are currently respected, the only relevant options for this
+ * publisher are `event_callbacks`, `use_default_callbacks`, and `%callback_group`.
+ */
+template<
+  typename CallbackT,
+  typename AllocatorT = std::allocator<void>>
+std::shared_ptr<GenericSubscription> create_generic_subscription(
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
+  const std::string & topic_name,
+  const std::string & topic_type,
+  const rclcpp::QoS & qos,
+  CallbackT && callback,
+  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
+    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
+  )
+)
+{
+  auto ts_lib = rclcpp::get_typesupport_library(
+    topic_type, "rosidl_typesupport_cpp");
+
+  return create_generic_subscription<CallbackT, AllocatorT>(
+    topics_interface, topic_name,
+    *rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
+    qos, std::forward<CallbackT>(callback), options
+  );
+}
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__CREATE_GENERIC_SUBSCRIPTION_HPP_

rclcpp/include/rclcpp/create_publisher.hpp

@@ -35,6 +35,53 @@ namespace rclcpp
 
 namespace detail
 {
+/// Create and return a publisher of the given MessageT type.
+/**
+ * The NodeT type only needs to have a method called get_node_topics_interface()
+ * which returns a shared_ptr to a NodeTopicsInterface.
+ */
+template<
+  typename MessageT = SerializedMessage,
+  typename AllocatorT = std::allocator<void>,
+  typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
+  typename NodeT>
+std::shared_ptr<PublisherT>
+create_publisher(
+  NodeT & node,
+  const std::string & topic_name,
+  const rosidl_message_type_support_t & type_support,
+  const rclcpp::QoS & qos,
+  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
+    rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
+  )
+)
+{
+  // Extract the NodeTopicsInterface from the NodeT.
+  using rclcpp::node_interfaces::get_node_topics_interface;
+  auto node_topics_interface = get_node_topics_interface(node);
+  auto node_parameters = node.get_node_parameters_interface();
+  const rclcpp::QoS & actual_qos = options.qos_overriding_options.get_policy_kinds().size() ?
+    rclcpp::detail::declare_qos_parameters(
+    options.qos_overriding_options, node_parameters,
+    node_topics_interface->resolve_topic_name(topic_name),
+    qos, rclcpp::detail::PublisherQosParametersTraits{}) :
+    qos;
+
+  // Create the publisher.
+  auto pub = node_topics_interface->create_publisher(
+    topic_name,
+    rclcpp::create_publisher_factory<AllocatorT, PublisherT>(
+      options,
+      type_support),
+    actual_qos
+  );
+
+  // Add the publisher to the node topics interface.
+  node_topics_interface->add_publisher(pub, options.callback_group);
+
+  return std::dynamic_pointer_cast<PublisherT>(pub);
+}
+
 /// Create and return a publisher of the given MessageT type.
 template<
   typename MessageT,