Pointer api updates (#104)

* Fix rcutils API change by just removing it.

* Switch from SharedPtr to raw.

image_transport/include/image_transport/camera_publisher.h

@@ -43,7 +43,8 @@
 
 #include "image_transport/single_subscriber_publisher.h"
 
-namespace image_transport {
+namespace image_transport
+{
 
 class ImageTransport;
 
@@ -68,9 +69,10 @@ class CameraPublisher
   CameraPublisher() = default;
 
 
-  CameraPublisher(rclcpp::Node::SharedPtr node,
-                  const std::string& base_topic,
-                  rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+  CameraPublisher(
+    rclcpp::Node * node,
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
   //TODO(ros2) Restore support for SubscriberStatusCallbacks when available.
 
@@ -95,13 +97,16 @@ class CameraPublisher
   /*!
    * \brief Publish an (image, info) pair on the topics associated with this CameraPublisher.
    */
-  void publish(const sensor_msgs::msg::Image& image, const sensor_msgs::msg::CameraInfo& info) const;
+  void publish(
+    const sensor_msgs::msg::Image & image,
+    const sensor_msgs::msg::CameraInfo & info) const;
 
   /*!
    * \brief Publish an (image, info) pair on the topics associated with this CameraPublisher.
    */
-  void publish(const sensor_msgs::msg::Image::ConstSharedPtr& image,
-               const sensor_msgs::msg::CameraInfo::ConstSharedPtr& info) const;
+  void publish(
+    const sensor_msgs::msg::Image::ConstSharedPtr & image,
+    const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info) const;
 
   /*!
    * \brief Publish an (image, info) pair with given timestamp on the topics associated with
@@ -110,17 +115,19 @@ class CameraPublisher
    * Convenience version, which sets the timestamps of both image and info to stamp before
    * publishing.
    */
-  void publish(sensor_msgs::msg::Image& image, sensor_msgs::msg::CameraInfo& info, rclcpp::Time stamp) const;
+  void publish(
+    sensor_msgs::msg::Image & image, sensor_msgs::msg::CameraInfo & info,
+    rclcpp::Time stamp) const;
 
   /*!
    * \brief Shutdown the advertisements associated with this Publisher.
    */
   void shutdown();
 
-  operator void*() const;
-  bool operator< (const CameraPublisher& rhs) const { return impl_ <  rhs.impl_; }
-  bool operator!=(const CameraPublisher& rhs) const { return impl_ != rhs.impl_; }
-  bool operator==(const CameraPublisher& rhs) const { return impl_ == rhs.impl_; }
+  operator void *() const;
+  bool operator<(const CameraPublisher & rhs) const {return impl_ < rhs.impl_;}
+  bool operator!=(const CameraPublisher & rhs) const {return impl_ != rhs.impl_;}
+  bool operator==(const CameraPublisher & rhs) const {return impl_ == rhs.impl_;}
 
 private:
   struct Impl;

image_transport/include/image_transport/camera_subscriber.h

@@ -69,7 +69,7 @@ class CameraSubscriber
 
   CameraSubscriber() = default;
 
-  CameraSubscriber(rclcpp::Node::SharedPtr node,
+  CameraSubscriber(rclcpp::Node * node,
                    const std::string& base_topic,
                    const Callback& callback,
                    const std::string& transport,

image_transport/include/image_transport/image_transport.h

@@ -55,15 +55,15 @@ namespace image_transport
  * \brief Advertise an image topic, free function version.
  */
 Publisher create_publisher(
-  rclcpp::Node::SharedPtr node,
+  rclcpp::Node* node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
 /**
  * \brief Subscribe to an image topic, free function version.
  */
 Subscriber create_subscription(
-  rclcpp::Node::SharedPtr node,
+  rclcpp::Node* node,
   const std::string & base_topic,
   const Subscriber::Callback & callback,
   const std::string & transport,
@@ -73,15 +73,15 @@ Subscriber create_subscription(
  * \brief Advertise a camera, free function version.
  */
 CameraPublisher create_camera_publisher(
-  rclcpp::Node::SharedPtr node,
+  rclcpp::Node* node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
 /*!
  * \brief Subscribe to a camera, free function version.
  */
 CameraSubscriber create_camera_subscription(
-  rclcpp::Node::SharedPtr node,
+  rclcpp::Node* node,
   const std::string & base_topic,
   const CameraSubscriber::Callback & callback,
   const std::string & transport,

image_transport/include/image_transport/publisher.h

@@ -72,7 +72,7 @@ class Publisher
   Publisher() = default;
 
   Publisher(
-    rclcpp::Node::SharedPtr nh,
+    rclcpp::Node * nh,
     const std::string & base_topic,
     PubLoaderPtr loader,
     rmw_qos_profile_t custom_qos);

image_transport/include/image_transport/publisher_plugin.h

@@ -50,8 +50,8 @@ class PublisherPlugin
 {
 public:
   PublisherPlugin() = default;
-  PublisherPlugin(const PublisherPlugin&) = delete;
-  PublisherPlugin& operator=( const PublisherPlugin& ) = delete;
+  PublisherPlugin(const PublisherPlugin &) = delete;
+  PublisherPlugin & operator=(const PublisherPlugin &) = delete;
 
   virtual ~PublisherPlugin() {}
 
@@ -65,7 +65,7 @@ class PublisherPlugin
    * \brief Advertise a topic, simple version.
    */
   void advertise(
-    rclcpp::Node::SharedPtr & nh,
+    rclcpp::Node * nh,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
   {
@@ -86,12 +86,12 @@ class PublisherPlugin
   /**
    * \brief Publish an image using the transport associated with this PublisherPlugin.
    */
-  virtual void publish(const sensor_msgs::msg::Image& message) const = 0;
+  virtual void publish(const sensor_msgs::msg::Image & message) const = 0;
 
   /**
    * \brief Publish an image using the transport associated with this PublisherPlugin.
    */
-  virtual void publish(const sensor_msgs::msg::Image::ConstSharedPtr& message) const
+  virtual void publish(const sensor_msgs::msg::Image::ConstSharedPtr & message) const
   {
     publish(*message);
   }
@@ -103,7 +103,7 @@ class PublisherPlugin
    * @param message an image message to use information from (but not data)
    * @param data a pointer to the image data to use to fill the Image message
    */
-  virtual void publish(const sensor_msgs::msg::Image& message, const uint8_t* data) const
+  virtual void publish(const sensor_msgs::msg::Image & message, const uint8_t * data) const
   {
     sensor_msgs::msg::Image msg;
     msg.header = message.header;
@@ -135,7 +135,9 @@ class PublisherPlugin
   /**
    * \brief Advertise a topic. Must be implemented by the subclass.
    */
-  virtual void advertiseImpl(rclcpp::Node::SharedPtr nh, const std::string& base_topic, rmw_qos_profile_t custom_qos) = 0;
+  virtual void advertiseImpl(
+    rclcpp::Node * nh, const std::string & base_topic,
+    rmw_qos_profile_t custom_qos) = 0;
 };
 
 } //namespace image_transport

image_transport/include/image_transport/simple_publisher_plugin.h

@@ -43,7 +43,8 @@
 
 #include <memory>
 
-namespace image_transport {
+namespace image_transport
+{
 
 /**
  * \brief Base class to simplify implementing most plugins to Publisher.
@@ -62,29 +63,30 @@ namespace image_transport {
  * getTopicToAdvertise() controls the name of the internal communication topic.
  * It defaults to \<base topic\>/\<transport name\>.
  */
-template <class M>
+template<class M>
 class SimplePublisherPlugin : public PublisherPlugin
 {
 public:
   virtual ~SimplePublisherPlugin() {}
 
   virtual uint32_t getNumSubscribers() const
   {
-    if (simple_impl_) return simple_impl_->node_->count_subscribers(getTopic());
+    // TODO(mjcarroll) replace with publisher-specific call.
+    if (simple_impl_) {return simple_impl_->node_->count_subscribers(getTopic());}
     return 0;
   }
 
   virtual std::string getTopic() const
   {
-    if (simple_impl_) return simple_impl_->pub_->get_topic_name();
+    if (simple_impl_) {return simple_impl_->pub_->get_topic_name();}
     return std::string();
   }
 
-  virtual void publish(const sensor_msgs::msg::Image& message) const
+  virtual void publish(const sensor_msgs::msg::Image & message) const
   {
     if (!simple_impl_ || !simple_impl_->pub_) {
-      rclcpp::Logger logger = simple_impl_->node_->get_logger();
-      RCLCPP_ERROR(logger, "Call to publish() on an invalid image_transport::SimplePublisherPlugin");
+      RCLCPP_ERROR(simple_impl_->logger_,
+        "Call to publish() on an invalid image_transport::SimplePublisherPlugin");
       return;
     }
 
@@ -97,18 +99,19 @@ class SimplePublisherPlugin : public PublisherPlugin
   }
 
 protected:
-  virtual void advertiseImpl(rclcpp::Node::SharedPtr node, const std::string& base_topic, rmw_qos_profile_t custom_qos)
+  virtual void advertiseImpl(
+    rclcpp::Node * node, const std::string & base_topic,
+    rmw_qos_profile_t custom_qos)
   {
     std::string transport_topic = getTopicToAdvertise(base_topic);
-    simple_impl_.reset(new SimplePublisherPluginImpl(node));
+    simple_impl_ = std::make_unique<SimplePublisherPluginImpl>(node);
 
-    rclcpp::Logger logger = simple_impl_->node_->get_logger();
-    RCLCPP_DEBUG(logger, "getTopicToAdvertise: %s", transport_topic);
+    RCLCPP_DEBUG(simple_impl_->logger_, "getTopicToAdvertise: %s", transport_topic);
     simple_impl_->pub_ = node->create_publisher<M>(transport_topic, custom_qos);
   }
 
   //! Generic function for publishing the internal message type.
-  typedef std::function<void(const M&)> PublishFn;
+  typedef std::function<void (const M &)> PublishFn;
 
   /**
    * \brief Publish an image using the specified publish function. Must be implemented by
@@ -118,46 +121,49 @@ class SimplePublisherPlugin : public PublisherPlugin
    * SimpleSubscriberPlugin to use this function for both normal broadcast publishing and
    * single subscriber publishing (in subscription callbacks).
    */
-  virtual void publish(const sensor_msgs::msg::Image& message, const PublishFn& publish_fn) const = 0;
+  virtual void publish(
+    const sensor_msgs::msg::Image & message,
+    const PublishFn & publish_fn) const = 0;
 
   /**
    * \brief Return the communication topic name for a given base topic.
    *
    * Defaults to \<base topic\>/\<transport name\>.
    */
-  virtual std::string getTopicToAdvertise(const std::string& base_topic) const
+  virtual std::string getTopicToAdvertise(const std::string & base_topic) const
   {
     return base_topic + "/" + getTransportName();
   }
 
 private:
   struct SimplePublisherPluginImpl
   {
-    SimplePublisherPluginImpl(rclcpp::Node::SharedPtr node)
-      : node_(node)
+    SimplePublisherPluginImpl(rclcpp::Node* node)
+    : node_(node),
+      logger_(node->get_logger())
     {
-
     }
 
-    rclcpp::Node::SharedPtr node_;
+    rclcpp::Node* node_;
+    rclcpp::Logger logger_;
     typename rclcpp::Publisher<M>::SharedPtr pub_;
   };
 
   std::unique_ptr<SimplePublisherPluginImpl> simple_impl_;
 
-  typedef std::function<void(const sensor_msgs::msg::Image&)> ImagePublishFn;
+  typedef std::function<void (const sensor_msgs::msg::Image &)> ImagePublishFn;
 
   /**
    * Returns a function object for publishing the transport-specific message type
    * through some ROS publisher type.
    *
    * @param pub An object with method void publish(const M&)
    */
-  template <class PubT>
-  PublishFn bindInternalPublisher(PubT* pub) const
+  template<class PubT>
+  PublishFn bindInternalPublisher(PubT * pub) const
   {
     // Bind PubT::publish(const Message&) as PublishFn
-    typedef void (PubT::*InternalPublishMemFn)(const M&);
+    typedef void (PubT::* InternalPublishMemFn)(const M &);
     InternalPublishMemFn internal_pub_mem_fn = &PubT::publish;
     return std::bind(internal_pub_mem_fn, pub, std::placeholders::_1);
   }

image_transport/include/image_transport/simple_subscriber_plugin.h

@@ -109,7 +109,7 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
   }
 
   virtual void subscribeImpl(
-    rclcpp::Node::SharedPtr node,
+    rclcpp::Node * node,
     const std::string & base_topic,
     const Callback & callback,
     rmw_qos_profile_t custom_qos)

image_transport/include/image_transport/subscriber.h

@@ -62,16 +62,16 @@ namespace image_transport
 class Subscriber
 {
 public:
-  typedef std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr&)> Callback;
+  typedef std::function<void (const sensor_msgs::msg::Image::ConstSharedPtr &)> Callback;
 
   Subscriber() = default;
 
   Subscriber(
-    rclcpp::Node::SharedPtr node,
+    rclcpp::Node * node,
     const std::string & base_topic,
-    const Callback& callback,
+    const Callback & callback,
     SubLoaderPtr loader,
-    const std::string& transport,
+    const std::string & transport,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
   /**
@@ -103,7 +103,6 @@ class Subscriber
   bool operator==(const Subscriber & rhs) const {return impl_ == rhs.impl_;}
 
 private:
-
   struct Impl;
   std::shared_ptr<Impl> impl_;
 };