init

point_cloud_transport/CMakeLists.txt

@@ -17,6 +17,7 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rmw REQUIRED)
@@ -43,6 +44,7 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   message_filters::message_filters
   pluginlib::pluginlib
   rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
   rcpputils::rcpputils
   rmw::rmw
   ${sensor_msgs_TARGETS}

point_cloud_transport/include/point_cloud_transport/point_cloud_transport.hpp

@@ -57,6 +57,7 @@ namespace point_cloud_transport
 //! PointCloudTransport is analogous to rclcpp::Node in that it contains functions
 //! to create publishers and subscriptions of PointCloud2 topics.
 
+template<class NodeType = rclcpp::Node>
 class PointCloudTransportLoader
 {
 public:
@@ -80,21 +81,21 @@ class PointCloudTransportLoader
 
   //! The loader that can load publisher plugins.
   POINT_CLOUD_TRANSPORT_PUBLIC
-  PubLoaderPtr getPublisherLoader() const;
+  PubLoaderPtr<NodeType> getPublisherLoader() const;
 
   //! The loader that can load subscriber plugins.
   POINT_CLOUD_TRANSPORT_PUBLIC
   SubLoaderPtr getSubscriberLoader() const;
 
   POINT_CLOUD_TRANSPORT_PUBLIC
-  point_cloud_transport::PubLoaderPtr getPubLoader();
+  point_cloud_transport::PubLoaderPtr<NodeType> getPubLoader();
 
   POINT_CLOUD_TRANSPORT_PUBLIC
   point_cloud_transport::SubLoaderPtr getSubLoader();
 
 protected:
-  point_cloud_transport::PubLoaderPtr pub_loader_;
-  point_cloud_transport::SubLoaderPtr sub_loader_;
+  point_cloud_transport::PubLoaderPtr<NodeType> pub_loader_;
+  point_cloud_transport::SubLoaderPtr<NodeType> sub_loader_;
 };
 
 /// \brief Advertise every available transport on pointcloud topics, free function version.
@@ -103,9 +104,10 @@ class PointCloudTransportLoader
 /// \param custom_qos The QoS profile to use for the underlying publisher(s)
 /// \param options The publisher options to use for the underlying publisher(s)
 /// \return The advertised publisher
+template<class NodeType = rclcpp::Node>
 POINT_CLOUD_TRANSPORT_PUBLIC
-Publisher create_publisher(
-  std::shared_ptr<rclcpp::Node> node,
+Publisher<NodeType> create_publisher(
+  std::shared_ptr<NodeType> node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions());
@@ -127,14 +129,15 @@ Subscriber create_subscription(
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
 
+template<class NodeType = rclcpp::Node>
 class PointCloudTransport : public PointCloudTransportLoader
 {
   using VoidPtr = std::shared_ptr<void>;
 
 public:
   //! Constructor
   POINT_CLOUD_TRANSPORT_PUBLIC
-  explicit PointCloudTransport(rclcpp::Node::SharedPtr node);
+  explicit PointCloudTransport(NodeType::SharedPtr node);
 
   POINT_CLOUD_TRANSPORT_PUBLIC
   ~PointCloudTransport() override = default;
@@ -154,7 +157,7 @@ class PointCloudTransport : public PointCloudTransportLoader
 
   //! Advertise a PointCloud2 topic, simple version.
   POINT_CLOUD_TRANSPORT_PUBLIC
-  Publisher advertise(
+  Publisher<NodeType> advertise(
     const std::string & base_topic,
     uint32_t queue_size)
   {
@@ -166,7 +169,7 @@ class PointCloudTransport : public PointCloudTransportLoader
 
   //! Advertise a PointCloud2 topic, simple version.
   POINT_CLOUD_TRANSPORT_PUBLIC
-  Publisher advertise(
+  Publisher<NodeType> advertise(
     const std::string & base_topic,
     uint32_t queue_size,
     const rclcpp::PublisherOptions & options)
@@ -177,7 +180,7 @@ class PointCloudTransport : public PointCloudTransportLoader
   }
 
   POINT_CLOUD_TRANSPORT_PUBLIC
-  Publisher advertise(
+  Publisher<NodeType> advertise(
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos,
     const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions())
@@ -318,7 +321,7 @@ class PointCloudTransport : public PointCloudTransportLoader
   }
 
 private:
-  rclcpp::Node::SharedPtr node_;
+  NodeType::SharedPtr node_;
 };
 
 }  // namespace point_cloud_transport

point_cloud_transport/include/point_cloud_transport/publisher.hpp

@@ -37,6 +37,7 @@
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -48,6 +49,7 @@
 namespace point_cloud_transport
 {
 
+template<class NodeType = rclcpp::Node>
 class Publisher
 {
 public:
@@ -57,7 +59,7 @@ class Publisher
 
   POINT_CLOUD_TRANSPORT_PUBLIC
   Publisher(
-    std::shared_ptr<rclcpp::Node> node,
+    std::shared_ptr<NodeType> node,
     const std::string & base_topic,
     PubLoaderPtr loader,
     rmw_qos_profile_t custom_qos,
@@ -107,7 +109,7 @@ class Publisher
 private:
   struct Impl;
   std::shared_ptr<Impl> impl_;
-  friend class PointCloudTransport;
+  friend class PointCloudTransport<NodeType>;
 };
 
 }  // namespace point_cloud_transport

point_cloud_transport/include/point_cloud_transport/publisher_plugin.hpp

@@ -37,6 +37,7 @@
 #include <vector>
 
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <rcpputils/tl_expected/expected.hpp>
 
@@ -47,6 +48,7 @@ namespace point_cloud_transport
 {
 
 //! Base class for plugins to Publisher.
+template<class NodeType = rclcpp::Node>
 class PublisherPlugin
 {
 public:
@@ -67,7 +69,7 @@ class PublisherPlugin
   //! \brief Advertise a topic, simple version.
   POINT_CLOUD_TRANSPORT_PUBLIC
   void advertise(
-    std::shared_ptr<rclcpp::Node> node,
+    std::shared_ptr<NodeType> node,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions());
@@ -111,7 +113,7 @@ class PublisherPlugin
 protected:
   //! Advertise a topic. Must be implemented by the subclass.
   virtual void advertiseImpl(
-    std::shared_ptr<rclcpp::Node> node, const std::string & base_topic,
+    std::shared_ptr<NodeType> node, const std::string & base_topic,
     rmw_qos_profile_t custom_qos,
     const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions()) = 0;
 };

point_cloud_transport/package.xml

@@ -23,6 +23,7 @@
   <depend>pluginlib</depend>
   <depend>rclcpp_components</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
   <depend>rcpputils</depend>
   <depend>rmw</depend>
   <depend>sensor_msgs</depend>

point_cloud_transport/src/publisher.cpp

@@ -51,9 +51,13 @@
 namespace point_cloud_transport
 {
 
-struct Publisher::Impl
+template class Publisher<rclcpp::Node>;
+template class Publisher<rclcpp_lifecycle::LifecycleNode>;
+
+template<class NodeType>
+struct Publisher<NodeType>::Impl
 {
-  explicit Impl(std::shared_ptr<rclcpp::Node> node)
+  explicit Impl(std::shared_ptr<NodeType> node)
   : logger_(node->get_logger()),
     unadvertised_(false)
   {
@@ -96,14 +100,15 @@ struct Publisher::Impl
 
   rclcpp::Logger logger_;
   std::string base_topic_;
-  PubLoaderPtr loader_;
-  std::vector<std::shared_ptr<PublisherPlugin>> publishers_;
+  PubLoaderPtr<NodeType> loader_;
+  std::vector<std::shared_ptr<PublisherPlugin<NodeType>>> publishers_;
   bool unadvertised_;
 };
 
-Publisher::Publisher(
-  std::shared_ptr<rclcpp::Node> node, const std::string & base_topic,
-  PubLoaderPtr loader, rmw_qos_profile_t custom_qos,
+template<class NodeType>
+Publisher<NodeType>::Publisher(
+  std::shared_ptr<NodeType> node, const std::string & base_topic,
+  PubLoaderPtr<NodeType> loader, rmw_qos_profile_t custom_qos,
   const rclcpp::PublisherOptions & options)
 : impl_(std::make_shared<Impl>(node))
 {
@@ -166,23 +171,26 @@ Publisher::Publisher(
   }
 }
 
-uint32_t Publisher::getNumSubscribers() const
+template<class NodeType>
+uint32_t Publisher<NodeType>::getNumSubscribers() const
 {
   if (impl_ && impl_->isValid()) {
     return impl_->getNumSubscribers();
   }
   return 0;
 }
 
-std::string Publisher::getTopic() const
+template<class NodeType>
+std::string Publisher<NodeType>::getTopic() const
 {
   if (impl_) {
     return impl_->getTopic();
   }
   return {};
 }
 
-void Publisher::publish(const sensor_msgs::msg::PointCloud2 & message) const
+template<class NodeType>
+void Publisher<NodeType>::publish(const sensor_msgs::msg::PointCloud2 & message) const
 {
   if (!impl_ || !impl_->isValid()) {
     // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
@@ -198,7 +206,8 @@ void Publisher::publish(const sensor_msgs::msg::PointCloud2 & message) const
   }
 }
 
-void Publisher::publish(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message) const
+template<class NodeType>
+void Publisher<NodeType>::publish(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message) const
 {
   if (!impl_ || !impl_->isValid()) {
     // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
@@ -214,15 +223,17 @@ void Publisher::publish(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & me
   }
 }
 
-void Publisher::shutdown()
+template<class NodeType>
+void Publisher<NodeType>::shutdown()
 {
   if (impl_) {
     impl_->shutdown();
     impl_.reset();
   }
 }
 
-Publisher::operator void *() const
+Publisher<NodeType>
+Publisher<NodeType>::operator void *() const
 {
   return (impl_ && impl_->isValid()) ? reinterpret_cast<void *>(1) : reinterpret_cast<void *>(0);
 }

point_cloud_transport/src/publisher_plugin.cpp

@@ -38,22 +38,28 @@
 namespace point_cloud_transport
 {
 
-void PublisherPlugin::advertise(
-  std::shared_ptr<rclcpp::Node> node,
+template class PublisherPlugin<rclcpp::Node>;
+template class PublisherPlugin<rclcpp_lifecycle::LifecycleNode>;
+
+template<class NodeType = rclcpp::Node>
+void PublisherPlugin<NodeType>::advertise(
+  std::shared_ptr<NodeType> node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos,
   const rclcpp::PublisherOptions & options)
 {
   advertiseImpl(node, base_topic, custom_qos, options);
 }
 
-void PublisherPlugin::publishPtr(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message)
+template<class NodeType = rclcpp::Node>
+void PublisherPlugin<NodeType>::publishPtr(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message)
 const
 {
   publish(*message);
 }
 
-std::string PublisherPlugin::getLookupName(const std::string & transport_name)
+template<class NodeType = rclcpp::Node>
+std::string PublisherPlugin<NodeType>::getLookupName(const std::string & transport_name)
 {
   return "point_cloud_transport/" + transport_name + "_pub";
 }