New interfaces for incoming QoS features

rclcpp/include/rclcpp/callback_group.hpp

@@ -22,6 +22,7 @@
 
 #include "rclcpp/client.hpp"
 #include "rclcpp/service.hpp"
+#include "rclcpp/publisher.hpp"
 #include "rclcpp/subscription.hpp"
 #include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -61,6 +62,10 @@ class CallbackGroup
   RCLCPP_PUBLIC
   explicit CallbackGroup(CallbackGroupType group_type);
 
+  RCLCPP_PUBLIC
+  const std::vector<rclcpp::PublisherBase::WeakPtr> &
+  get_publisher_ptrs() const;
+
   RCLCPP_PUBLIC
   const std::vector<rclcpp::SubscriptionBase::WeakPtr> &
   get_subscription_ptrs() const;
@@ -92,6 +97,10 @@ class CallbackGroup
 protected:
   RCLCPP_DISABLE_COPY(CallbackGroup)
 
+  RCLCPP_PUBLIC
+  void
+  add_publisher(const rclcpp::PublisherBase::SharedPtr publisher_ptr);
+
   RCLCPP_PUBLIC
   void
   add_subscription(const rclcpp::SubscriptionBase::SharedPtr subscription_ptr);
@@ -119,6 +128,7 @@ class CallbackGroup
   CallbackGroupType type_;
   // Mutex to protect the subsequent vectors of pointers.
   mutable std::mutex mutex_;
+  std::vector<rclcpp::PublisherBase::WeakPtr> publisher_ptrs_;
   std::vector<rclcpp::SubscriptionBase::WeakPtr> subscription_ptrs_;
   std::vector<rclcpp::TimerBase::WeakPtr> timer_ptrs_;
   std::vector<rclcpp::ServiceBase::WeakPtr> service_ptrs_;

rclcpp/include/rclcpp/create_publisher.hpp

@@ -31,6 +31,8 @@ create_publisher(
   rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
   const std::string & topic_name,
   const rmw_qos_profile_t & qos_profile,
+  const PublisherEventCallbacks & event_callbacks,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group,
   bool use_intra_process_comms,
   std::shared_ptr<AllocatorT> allocator)
 {
@@ -39,10 +41,12 @@ create_publisher(
 
   auto pub = node_topics->create_publisher(
     topic_name,
-    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(allocator),
+    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(event_callbacks, allocator),
     publisher_options,
     use_intra_process_comms);
-  node_topics->add_publisher(pub);
+
+  node_topics->add_publisher(pub, group);
+
   return std::dynamic_pointer_cast<PublisherT>(pub);
 }
 

rclcpp/include/rclcpp/create_subscription.hpp

@@ -38,6 +38,7 @@ create_subscription(
   const std::string & topic_name,
   CallbackT && callback,
   const rmw_qos_profile_t & qos_profile,
+  const SubscriptionEventCallbacks & event_callbacks,
   rclcpp::callback_group::CallbackGroup::SharedPtr group,
   bool ignore_local_publications,
   bool use_intra_process_comms,
@@ -52,7 +53,10 @@ create_subscription(
 
   auto factory = rclcpp::create_subscription_factory
     <MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
-    std::forward<CallbackT>(callback), msg_mem_strat, allocator);
+    std::forward<CallbackT>(callback),
+    event_callbacks,
+    msg_mem_strat,
+    allocator);
 
   auto sub = node_topics->create_subscription(
     topic_name,

rclcpp/include/rclcpp/node.hpp

@@ -139,7 +139,7 @@ class Node : public std::enable_shared_from_this<Node>
   const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
   get_callback_groups() const;
 
-  /// Create and return a Publisher.
+  /// Create and return a Publisher. Note: This constructor is deprecated
   /**
    * \param[in] topic_name The topic for this publisher to publish on.
    * \param[in] qos_history_depth The depth of the publisher message queue.
@@ -151,10 +151,11 @@ class Node : public std::enable_shared_from_this<Node>
     typename PublisherT = ::rclcpp::Publisher<MessageT, Alloc>>
   std::shared_ptr<PublisherT>
   create_publisher(
-    const std::string & topic_name, size_t qos_history_depth,
+    const std::string & topic_name,
+    size_t qos_history_depth,
     std::shared_ptr<Alloc> allocator = nullptr);
 
-  /// Create and return a Publisher.
+  /// Create and return a Publisher. Note: this constructor is deprecated
   /**
    * \param[in] topic_name The topic for this publisher to publish on.
    * \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
@@ -170,7 +171,23 @@ class Node : public std::enable_shared_from_this<Node>
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
     std::shared_ptr<Alloc> allocator = nullptr);
 
-  /// Create and return a Subscription.
+  /// Create and return a Publisher.
+  /**
+   * \param[in] topic_name The topic for this publisher to publish on.
+   * \param[in] options Additional options for the created Publisher
+   * \return Shared pointer to the created publisher.
+   */
+  template<
+    typename MessageT,
+    typename Alloc = std::allocator<void>,
+    typename PublisherT = ::rclcpp::Publisher<MessageT, Alloc>>
+  std::shared_ptr<PublisherT>
+  create_publisher(
+    const std::string & topic_name,
+    const PublisherOptions<Alloc> & options,
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group = nullptr);
+
+  /// Create and return a Subscription. Note: this constructor is deprecated
   /**
    * \param[in] topic_name The topic to subscribe on.
    * \param[in] callback The user-defined callback function.
@@ -203,7 +220,7 @@ class Node : public std::enable_shared_from_this<Node>
     msg_mem_strat = nullptr,
     std::shared_ptr<Alloc> allocator = nullptr);
 
-  /// Create and return a Subscription.
+  /// Create and return a Subscription. Note: this constructor is deprecated
   /**
    * \param[in] topic_name The topic to subscribe on.
    * \param[in] qos_history_depth The depth of the subscription's incoming message queue.
@@ -236,6 +253,34 @@ class Node : public std::enable_shared_from_this<Node>
     msg_mem_strat = nullptr,
     std::shared_ptr<Alloc> allocator = nullptr);
 
+  /// Create and return a Subscription.
+  /**
+   * \param[in] topic_name The topic to subscribe on.
+   * \param[in] callback The user-defined callback function to receive a message
+   * \param[in] options Additional options for the creation of the Subscription
+   * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
+   * \return Shared pointer to the created subscription.
+   */
+  /* TODO(jacquelinekay):
+     Windows build breaks when static member function passed as default
+     argument to msg_mem_strat, nullptr is a workaround.
+   */
+  template<
+    typename MessageT,
+    typename CallbackT,
+    typename Alloc = std::allocator<void>,
+    typename SubscriptionT = rclcpp::Subscription<
+      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
+  std::shared_ptr<SubscriptionT>
+  create_subscription(
+    const std::string & topic_name,
+    CallbackT && callback,
+    const SubscriptionOptions<Alloc> & options,
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group = nullptr,
+    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
+    msg_mem_strat = nullptr);
+
   /// Create a timer.
   /**
    * \param[in] period Time interval between triggers of the callback.
@@ -600,6 +645,16 @@ class Node : public std::enable_shared_from_this<Node>
   const NodeOptions &
   get_node_options() const;
 
+  /// Manually assert that this Node is alive (for RMW_QOS_POLICY_MANUAL_BY_NODE)
+  /**
+   * If the rmw Liveliness policy is set to RMW_QOS_POLICY_MANUAL_BY_NODE, the creator of this
+   * Node must manually call `assert_liveliness` periodically to signal that this Node
+   * is still alive. Must be called at least as often as qos_profile's Liveliness lease_duration
+   */
+  RCLCPP_PUBLIC
+  void
+  assert_liveliness() {}
+
 protected:
   /// Construct a sub-node, which will extend the namespace of all entities created with it.
   /**

rclcpp/include/rclcpp/node_impl.hpp

@@ -54,7 +54,8 @@ namespace rclcpp
 template<typename MessageT, typename Alloc, typename PublisherT>
 std::shared_ptr<PublisherT>
 Node::create_publisher(
-  const std::string & topic_name, size_t qos_history_depth,
+  const std::string & topic_name,
+  size_t qos_history_depth,
   std::shared_ptr<Alloc> allocator)
 {
   if (!allocator) {
@@ -80,7 +81,8 @@ extend_name_with_sub_namespace(const std::string & name, const std::string & sub
 template<typename MessageT, typename Alloc, typename PublisherT>
 std::shared_ptr<PublisherT>
 Node::create_publisher(
-  const std::string & topic_name, const rmw_qos_profile_t & qos_profile,
+  const std::string & topic_name,
+  const rmw_qos_profile_t & qos_profile,
   std::shared_ptr<Alloc> allocator)
 {
   if (!allocator) {
@@ -91,6 +93,30 @@ Node::create_publisher(
     this->node_topics_.get(),
     extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
     qos_profile,
+    PublisherEventCallbacks(),
+    nullptr,
+    this->get_node_options().use_intra_process_comms(),
+    allocator);
+}
+
+template<typename MessageT, typename Alloc, typename PublisherT>
+std::shared_ptr<PublisherT>
+Node::create_publisher(
+  const std::string & topic_name,
+  const PublisherOptions<Alloc> & options,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+{
+  std::shared_ptr<Alloc> allocator = options.allocator();
+  if (!allocator) {
+    allocator = std::make_shared<Alloc>();
+  }
+
+  return rclcpp::create_publisher<MessageT, Alloc, PublisherT>(
+    this->node_topics_.get(),
+    extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
+    options.qos_profile(),
+    options.event_callbacks(),
+    group,
     this->get_node_options().use_intra_process_comms(),
     allocator);
 }
@@ -128,13 +154,54 @@ Node::create_subscription(
     extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
     std::forward<CallbackT>(callback),
     qos_profile,
+    SubscriptionEventCallbacks(),
     group,
     ignore_local_publications,
     this->get_node_options().use_intra_process_comms(),
     msg_mem_strat,
     allocator);
 }
 
+template<
+  typename MessageT,
+  typename CallbackT,
+  typename Alloc,
+  typename SubscriptionT>
+std::shared_ptr<SubscriptionT>
+Node::create_subscription(
+  const std::string & topic_name,
+  CallbackT && callback,
+  const SubscriptionOptions<Alloc> & options,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group,
+  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
+  msg_mem_strat)
+{
+  using CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type;
+
+  std::shared_ptr<Alloc> allocator = options.allocator();
+  if (!allocator) {
+    allocator = std::make_shared<Alloc>();
+  }
+
+  if (!msg_mem_strat) {
+    using rclcpp::message_memory_strategy::MessageMemoryStrategy;
+    msg_mem_strat = MessageMemoryStrategy<CallbackMessageT, Alloc>::create_default();
+  }
+
+  return rclcpp::create_subscription<MessageT, CallbackT, Alloc, CallbackMessageT, SubscriptionT>(
+    this->node_topics_.get(),
+    extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
+    std::forward<CallbackT>(callback),
+    options.qos_profile(),
+    options.event_callbacks(),
+    group,
+    options.ignore_local_publications(),
+    this->get_node_options().use_intra_process_comms(),
+    msg_mem_strat,
+    allocator);
+}
+
 template<
   typename MessageT,
   typename CallbackT,

rclcpp/include/rclcpp/node_interfaces/node_topics.hpp

@@ -58,7 +58,8 @@ class NodeTopics : public NodeTopicsInterface
   virtual
   void
   add_publisher(
-    rclcpp::PublisherBase::SharedPtr publisher);
+    rclcpp::PublisherBase::SharedPtr publisher,
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group);
 
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -57,7 +57,8 @@ class NodeTopicsInterface
   virtual
   void
   add_publisher(
-    rclcpp::PublisherBase::SharedPtr publisher) = 0;
+    rclcpp::PublisherBase::SharedPtr publisher,
+    rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
 
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/parameter_client.hpp

@@ -127,6 +127,7 @@ class AsyncParametersClient
       "parameter_events",
       std::forward<CallbackT>(callback),
       rmw_qos_profile_default,
+      SubscriptionEventCallbacks(),
       nullptr,  // group,
       false,  // ignore_local_publications,
       false,  // use_intra_process_comms_,

rclcpp/include/rclcpp/publisher.hpp

@@ -31,17 +31,21 @@
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/allocator/allocator_deleter.hpp"
+#include "rclcpp/exceptions.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/publisher_options.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
 
-// Forward declaration is used for friend statement.
 namespace node_interfaces
 {
+// NOTE(emersonknapp) Forward declaration avoids including node_base_interface.hpp which causes
+// circular inclusion from callback_group.hpp
+class NodeBaseInterface;
+// Forward declaration is used for friend statement.
 class NodeTopicsInterface;
 }
 
@@ -128,6 +132,16 @@ class PublisherBase
   size_t
   get_intra_process_subscription_count() const;
 
+  /// Manually assert that this Publisher is alive (for RMW_QOS_POLICY_MANUAL_BY_TOPIC)
+  /**
+   * If the rmw Liveliness policy is set to RMW_QOS_POLICY_MANUAL_BY_TOPIC, the creator of this
+   * Publisher must manually call `assert_liveliness` periodically to signal that this Publisher
+   * is still alive. Must be called at least as often as qos_profile's Liveliness lease_duration
+   */
+  RCLCPP_PUBLIC
+  void
+  assert_liveliness() {}
+
   /// Compare this publisher to a gid.
   /**
    * Note that this function calls the next function.
@@ -194,6 +208,7 @@ class Publisher : public PublisherBase
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic,
     const rcl_publisher_options_t & publisher_options,
+    const PublisherEventCallbacks & /* event_callbacks */,
     const std::shared_ptr<MessageAlloc> & allocator)
   : PublisherBase(
       node_base,