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/default_plugins.xml

@@ -1,17 +1,35 @@
 <library path="image_transport_plugins">
   <class
     name="image_transport/raw_pub"
-    type="image_transport::RawPublisher"
-    base_class_type="image_transport::PublisherPlugin">
+    type="image_transport::RawPublisher&lt;rclcpp::Node&gt;"
+    base_class_type="image_transport::PublisherPlugin&lt;rclcpp::Node&gt;">
+    <description>
+      This is the default publisher. It publishes the Image as-is on the base topic.
+    </description>
+  </class>
+
+  <class
+    name="image_transport/raw_lifecycle_pub"
+    type="image_transport::RawPublisher&lt;rclcpp_lifecycle::LifecycleNode&gt;"
+    base_class_type="image_transport::PublisherPlugin&lt;rclcpp_lifecycle::LifecycleNode&gt;">
     <description>
       This is the default publisher. It publishes the Image as-is on the base topic.
     </description>
   </class>
 
   <class
     name="image_transport/raw_sub"
-    type="image_transport::RawSubscriber"
-    base_class_type="image_transport::SubscriberPlugin">
+    type="image_transport::RawSubscriber&lt;rclcpp::Node&gt;"
+    base_class_type="image_transport::SubscriberPlugin&lt;rclcpp::Node&gt;">
+    <description>
+      This is the default pass-through subscriber for topics of type sensor_msgs/Image.
+    </description>
+  </class>
+
+  <class
+    name="image_transport/raw_lifecycle_sub"
+    type="image_transport::RawSubscriber&lt;rclcpp_lifecycle::LifecycleNode&gt;"
+    base_class_type="image_transport::SubscriberPlugin&lt;rclcpp_lifecycle::LifecycleNode&gt;">
     <description>
       This is the default pass-through subscriber for topics of type sensor_msgs/Image.
     </description>

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"
@@ -43,9 +44,6 @@
 
 namespace image_transport
 {
-
-class ImageTransport;
-
 /**
  * \brief Manages advertisements for publishing camera images.
  *
@@ -61,6 +59,7 @@ class ImageTransport;
  * associated with that handle will stop being called. Once all CameraPublisher for a
  * given base topic go out of scope the topic (and all subtopics) will be unadvertised.
  */
+template<class NodeType = rclcpp::Node>
 class CameraPublisher
 {
 public:
@@ -69,7 +68,14 @@ class CameraPublisher
 
   IMAGE_TRANSPORT_PUBLIC
   CameraPublisher(
-    rclcpp::Node * node,
+    NodeType * node,
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    rclcpp::PublisherOptions = rclcpp::PublisherOptions());
+
+  IMAGE_TRANSPORT_PUBLIC
+  CameraPublisher(
+    std::shared_ptr<NodeType> node,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions = rclcpp::PublisherOptions());
@@ -163,6 +169,11 @@ 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"
@@ -42,9 +43,6 @@
 
 namespace image_transport
 {
-
-class ImageTransport;
-
 /**
  * \brief Manages a subscription callback on synchronized Image and CameraInfo topics.
  *
@@ -60,6 +58,7 @@ void callback(const sensor_msgs::msg::Image::ConstSharedPtr&, const sensor_msgs:
  * associated with that handle will stop being called. Once all CameraSubscriber for a given
  * topic go out of scope the topic will be unsubscribed.
  */
+template<class NodeType = rclcpp::Node>
 class CameraSubscriber
 {
 public:
@@ -71,7 +70,15 @@ class CameraSubscriber
 
   IMAGE_TRANSPORT_PUBLIC
   CameraSubscriber(
-    rclcpp::Node * node,
+    NodeType * 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(
+    std::shared_ptr<NodeType> node,
     const std::string & base_topic,
     const Callback & callback,
     const std::string & transport,
@@ -120,6 +127,12 @@ 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_;
 };