Support lifecycle node

image_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(sensor_msgs REQUIRED)
 
@@ -37,6 +38,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 target_link_libraries(${PROJECT_NAME} PUBLIC
   message_filters::message_filters
   rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
   ${sensor_msgs_TARGETS})
 target_link_libraries(${PROJECT_NAME} PRIVATE
   pluginlib::pluginlib)
@@ -107,7 +109,7 @@ install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 ament_export_targets(export_${PROJECT_NAME})
 
-ament_export_dependencies(message_filters rclcpp sensor_msgs pluginlib)
+ament_export_dependencies(message_filters rclcpp rclcpp_lifecycle sensor_msgs pluginlib)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -131,30 +133,60 @@ if(BUILD_TESTING)
     target_link_libraries(${PROJECT_NAME}-publisher ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(${PROJECT_NAME}-publisher_lifecycle test/test_publisher_lifecycle.cpp)
+  if(TARGET ${PROJECT_NAME}-publisher_lifecycle)
+    target_link_libraries(${PROJECT_NAME}-publisher_lifecycle ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(${PROJECT_NAME}-subscriber test/test_subscriber.cpp)
   if(TARGET ${PROJECT_NAME}-subscriber)
     target_link_libraries(${PROJECT_NAME}-subscriber ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(${PROJECT_NAME}-subscriber_lifecycle test/test_subscriber_lifecycle.cpp)
+  if(TARGET ${PROJECT_NAME}-subscriber_lifecycle)
+    target_link_libraries(${PROJECT_NAME}-subscriber_lifecycle ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(${PROJECT_NAME}-message_passing test/test_message_passing.cpp)
   if(TARGET ${PROJECT_NAME}-message_passing)
     target_link_libraries(${PROJECT_NAME}-message_passing ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(${PROJECT_NAME}-message_passing_lifecycle test/test_message_passing_lifecycle.cpp)
+  if(TARGET ${PROJECT_NAME}-message_passing_lifecycle)
+    target_link_libraries(${PROJECT_NAME}-message_passing_lifecycle ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(${PROJECT_NAME}-remapping test/test_remapping.cpp)
   if(TARGET ${PROJECT_NAME}-remapping)
     target_link_libraries(${PROJECT_NAME}-remapping ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(${PROJECT_NAME}-remapping_lifecycle test/test_remapping_lifecycle.cpp)
+  if(TARGET ${PROJECT_NAME}-remapping_lifecycle)
+    target_link_libraries(${PROJECT_NAME}-remapping_lifecycle ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(${PROJECT_NAME}-qos_override test/test_qos_override.cpp)
   if(TARGET ${PROJECT_NAME}-qos_override)
     target_link_libraries(${PROJECT_NAME}-qos_override ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(${PROJECT_NAME}-qos_override_lifecycle test/test_qos_override_lifecycle.cpp)
+  if(TARGET ${PROJECT_NAME}-qos_override_lifecycle)
+    target_link_libraries(${PROJECT_NAME}-qos_override_lifecycle ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(${PROJECT_NAME}-single_subscriber_publisher test/test_single_subscriber_publisher.cpp)
   if(TARGET ${PROJECT_NAME}-single_subscriber_publisher)
     target_link_libraries(${PROJECT_NAME}-single_subscriber_publisher ${PROJECT_NAME})
   endif()
+
+  ament_add_gtest(${PROJECT_NAME}-single_subscriber_publisher_lifecycle test/test_single_subscriber_publisher_lifecycle.cpp)
+  if(TARGET ${PROJECT_NAME}-single_subscriber_publisher_lifecycle)
+    target_link_libraries(${PROJECT_NAME}-single_subscriber_publisher_lifecycle ${PROJECT_NAME})
+  endif()
 endif()
 
 ament_package()

image_transport/include/image_transport/camera_publisher.hpp

@@ -34,6 +34,7 @@
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 #include "sensor_msgs/msg/image.hpp"
 #include "sensor_msgs/msg/camera_info.hpp"
@@ -69,7 +70,14 @@ class CameraPublisher
 
   IMAGE_TRANSPORT_PUBLIC
   CameraPublisher(
-    rclcpp::Node * node,
+    rclcpp::Node::SharedPtr node,
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    rclcpp::PublisherOptions = rclcpp::PublisherOptions());
+
+  IMAGE_TRANSPORT_PUBLIC
+  CameraPublisher(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions = rclcpp::PublisherOptions());
@@ -142,6 +150,11 @@ class CameraPublisher
   bool operator==(const CameraPublisher & rhs) const {return impl_ == rhs.impl_;}
 
 private:
+  void initialise(
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos,
+    rclcpp::PublisherOptions options);
+
   struct Impl;
   std::shared_ptr<Impl> impl_;
 };

image_transport/include/image_transport/camera_subscriber.hpp

@@ -34,6 +34,7 @@
 #include <string>
 
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 #include "sensor_msgs/msg/camera_info.hpp"
 #include "sensor_msgs/msg/image.hpp"
@@ -71,7 +72,15 @@ class CameraSubscriber
 
   IMAGE_TRANSPORT_PUBLIC
   CameraSubscriber(
-    rclcpp::Node * node,
+    rclcpp::Node::SharedPtr node,
+    const std::string & base_topic,
+    const Callback & callback,
+    const std::string & transport,
+    rmw_qos_profile_t = rmw_qos_profile_default);
+
+  IMAGE_TRANSPORT_PUBLIC
+  CameraSubscriber(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
     const std::string & base_topic,
     const Callback & callback,
     const std::string & transport,
@@ -120,6 +129,12 @@ class CameraSubscriber
   bool operator==(const CameraSubscriber & rhs) const {return impl_ == rhs.impl_;}
 
 private:
+  void initialise(
+    const std::string & base_topic,
+    const Callback & callback,
+    const std::string & transport,
+    rmw_qos_profile_t custom_qos);
+
   struct Impl;
   std::shared_ptr<Impl> impl_;
 };

image_transport/include/image_transport/image_transport.hpp

@@ -51,7 +51,14 @@ namespace image_transport
  */
 IMAGE_TRANSPORT_PUBLIC
 Publisher create_publisher(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+  rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
+
+IMAGE_TRANSPORT_PUBLIC
+Publisher create_publisher(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
@@ -61,7 +68,16 @@ Publisher create_publisher(
  */
 IMAGE_TRANSPORT_PUBLIC
 Subscriber create_subscription(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
+  const std::string & base_topic,
+  const Subscriber::Callback & callback,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+  rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
+
+IMAGE_TRANSPORT_PUBLIC
+Subscriber create_subscription(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
   const std::string & base_topic,
   const Subscriber::Callback & callback,
   const std::string & transport,
@@ -73,7 +89,14 @@ Subscriber create_subscription(
  */
 IMAGE_TRANSPORT_PUBLIC
 CameraPublisher create_camera_publisher(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+  rclcpp::PublisherOptions pub_options = rclcpp::PublisherOptions());
+
+IMAGE_TRANSPORT_PUBLIC
+CameraPublisher create_camera_publisher(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::PublisherOptions pub_options = rclcpp::PublisherOptions());
@@ -83,7 +106,15 @@ CameraPublisher create_camera_publisher(
  */
 IMAGE_TRANSPORT_PUBLIC
 CameraSubscriber create_camera_subscription(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
+  const std::string & base_topic,
+  const CameraSubscriber::Callback & callback,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+
+IMAGE_TRANSPORT_PUBLIC
+CameraSubscriber create_camera_subscription(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
   const std::string & base_topic,
   const CameraSubscriber::Callback & callback,
   const std::string & transport,
@@ -112,6 +143,9 @@ class ImageTransport
   IMAGE_TRANSPORT_PUBLIC
   explicit ImageTransport(rclcpp::Node::SharedPtr node);
 
+  IMAGE_TRANSPORT_PUBLIC
+  explicit ImageTransport(rclcpp_lifecycle::LifecycleNode::SharedPtr node);
+
   IMAGE_TRANSPORT_PUBLIC
   ~ImageTransport();
 

image_transport/include/image_transport/publisher.hpp

@@ -34,6 +34,7 @@
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 #include "sensor_msgs/msg/image.hpp"
 
@@ -70,12 +71,19 @@ class Publisher
 
   IMAGE_TRANSPORT_PUBLIC
   Publisher(
-    rclcpp::Node * nh,
+    rclcpp::Node::SharedPtr nh,
     const std::string & base_topic,
     PubLoaderPtr loader,
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
 
+  IMAGE_TRANSPORT_PUBLIC
+  Publisher(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr nh,
+    const std::string & base_topic,
+    PubLoaderPtr loader,
+    rmw_qos_profile_t custom_qos,
+    rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
   /*!
    * \brief Returns the number of subscribers that are currently connected to
    * this Publisher.
@@ -122,6 +130,12 @@ class Publisher
   bool operator==(const Publisher & rhs) const {return impl_ == rhs.impl_;}
 
 private:
+  void initialise(
+    const std::string & base_topic,
+    PubLoaderPtr loader,
+    rmw_qos_profile_t custom_qos,
+    rclcpp::PublisherOptions options);
+
   struct Impl;
   std::shared_ptr<Impl> impl_;
 };

image_transport/include/image_transport/publisher_plugin.hpp

@@ -31,8 +31,10 @@
 
 #include <string>
 #include <vector>
+#include <memory>
 
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "sensor_msgs/msg/image.hpp"
 
 #include "image_transport/single_subscriber_publisher.hpp"
@@ -63,14 +65,58 @@ class PublisherPlugin
    * \brief Advertise a topic, simple version.
    */
   void advertise(
-    rclcpp::Node * nh,
+    rclcpp::Node::SharedPtr nh,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
   {
-    advertiseImpl(nh, base_topic, custom_qos, options);
+    if (impl_) {
+      throw std::runtime_error("advertise has been called previously!");
+    }
+    impl_ = std::make_unique<Impl>();
+    impl_->node_ = nh;
+    advertise(base_topic, custom_qos, options);
   }
 
+  void advertise(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr nh,
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
+  {
+    if (impl_) {
+      throw std::runtime_error("advertise has been called previously!");
+    }
+    impl_ = std::make_unique<Impl>();
+    impl_->lifecycle_node_ = nh;
+    advertise(base_topic, custom_qos, options);
+  }
+
+  void advertise(
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
+  {
+    advertiseImpl(base_topic, custom_qos, options);
+  }
+
+  bool get_node(rclcpp::Node::SharedPtr & node) const
+  {
+    if (impl_ && impl_->node_) {
+      node = impl_->node_;
+      return true;
+    }
+    return false;
+  }
+
+  bool get_node(rclcpp_lifecycle::LifecycleNode::SharedPtr & node) const
+  {
+    if (impl_ && impl_->lifecycle_node_) {
+      node = impl_->lifecycle_node_;
+      return true;
+    }
+    return false;
+  }
   /**
    * \brief Returns the number of subscribers that are currently connected to
    * this PublisherPlugin.
@@ -135,10 +181,18 @@ class PublisherPlugin
    * \brief Advertise a topic. Must be implemented by the subclass.
    */
   virtual void advertiseImpl(
-    rclcpp::Node * node,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options) = 0;
+
+private:
+  struct Impl
+  {
+    rclcpp::Node::SharedPtr node_;
+    rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
+  };
+
+  std::unique_ptr<Impl> impl_;
 };
 
 }  // namespace image_transport