Fix options usage in implementation, and add test to catch that code …

…path.

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

rclcpp/CMakeLists.txt

@@ -248,6 +248,15 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_publisher ${PROJECT_NAME})
   endif()
+  ament_add_gtest(test_pub_sub_option_interface test/test_pub_sub_option_interface.cpp)
+  if(TARGET test_pub_sub_option_interface)
+    ament_target_dependencies(test_pub_sub_option_interface
+      test_msgs
+    )
+    target_link_libraries(test_pub_sub_option_interface
+      ${PROJECT_NAME}
+    )
+  endif()
   ament_add_gtest(test_publisher_subscription_count_api test/test_publisher_subscription_count_api.cpp)
   if(TARGET test_publisher_subscription_count_api)
     ament_target_dependencies(test_publisher_subscription_count_api

rclcpp/include/rclcpp/node_impl.hpp

@@ -106,16 +106,16 @@ Node::create_publisher(
   const PublisherOptions<Alloc> & options,
   rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
-  std::shared_ptr<Alloc> allocator = options.allocator();
+  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(),
+    options.qos_profile,
+    options.event_callbacks,
     group,
     this->get_node_options().use_intra_process_comms(),
     allocator);
@@ -179,7 +179,7 @@ Node::create_subscription(
 {
   using CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type;
 
-  std::shared_ptr<Alloc> allocator = options.allocator();
+  std::shared_ptr<Alloc> allocator = options.allocator;
   if (!allocator) {
     allocator = std::make_shared<Alloc>();
   }
@@ -193,10 +193,10 @@ Node::create_subscription(
     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(),
+    options.qos_profile,
+    options.event_callbacks,
     group,
-    options.ignore_local_publications(),
+    options.ignore_local_publications,
     this->get_node_options().use_intra_process_comms(),
     msg_mem_strat,
     allocator);

rclcpp/test/test_pub_sub_option_interface.cpp

@@ -0,0 +1,56 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "test_msgs/msg/empty.hpp"
+
+class TestPublisher : public ::testing::Test
+{
+protected:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void SetUp()
+  {
+    node = std::make_shared<rclcpp::Node>("my_node", "/ns");
+  }
+
+  void TearDown()
+  {
+    node.reset();
+  }
+
+  rclcpp::Node::SharedPtr node;
+};
+
+/*
+   Testing construction and destruction.
+ */
+TEST_F(TestPublisher, construction_and_destruction) {
+  rclcpp::PublisherOptions<> pub_options;
+  auto publisher = node->create_publisher<test_msgs::msg::Empty>("topic", pub_options);
+
+  rclcpp::SubscriptionOptions<> sub_options;
+  auto subscription = node->create_subscription<test_msgs::msg::Empty>(
+    "topic",
+    [](std::shared_ptr<test_msgs::msg::Empty> test_msg) {(void) test_msg;},
+    sub_options);
+}