Support lifecycle node - NodeInterfaces

camera_info_manager/include/camera_info_manager/camera_info_manager.hpp

@@ -182,13 +182,17 @@ class CameraInfoManager
 {
 public:
   CAMERA_INFO_MANAGER_PUBLIC
+  [[deprecated("Use CameraInfoManager(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, ...)"
+    " instead.")]]
   CameraInfoManager(
     rclcpp::Node * node,
     const std::string & cname = "camera",
     const std::string & url = "",
     const std::string & ns = "~");
 
   CAMERA_INFO_MANAGER_PUBLIC
+  [[deprecated("Use CameraInfoManager(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, ...)"
+    " instead.")]]
   CameraInfoManager(
     rclcpp_lifecycle::LifecycleNode * node,
     const std::string & cname = "camera",

image_transport/CMakeLists.txt

@@ -18,6 +18,7 @@ find_package(message_filters REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
 # Build image_transport library
@@ -119,39 +120,69 @@ if(BUILD_TESTING)
 
   find_package(ament_cmake_gtest)
 
-  ament_add_gtest(${PROJECT_NAME}-camera_common test/test_camera_common.cpp)
-  if(TARGET ${PROJECT_NAME}-camera_common)
-    target_link_libraries(${PROJECT_NAME}-camera_common ${PROJECT_NAME})
+  ament_add_gtest(test_${PROJECT_NAME}-camera_common test/test_camera_common.cpp)
+  if(TARGET test_${PROJECT_NAME}-camera_common)
+    target_link_libraries(test_${PROJECT_NAME}-camera_common ${PROJECT_NAME})
   endif()
 
-  ament_add_gtest(${PROJECT_NAME}-publisher test/test_publisher.cpp)
-  if(TARGET ${PROJECT_NAME}-publisher)
-    target_link_libraries(${PROJECT_NAME}-publisher ${PROJECT_NAME})
+  ament_add_gtest(test_${PROJECT_NAME}-publisher test/test_publisher.cpp)
+  if(TARGET test_${PROJECT_NAME}-publisher)
+    target_link_libraries(test_${PROJECT_NAME}-publisher ${PROJECT_NAME})
   endif()
 
-  ament_add_gtest(${PROJECT_NAME}-subscriber test/test_subscriber.cpp)
-  if(TARGET ${PROJECT_NAME}-subscriber)
-    target_link_libraries(${PROJECT_NAME}-subscriber ${PROJECT_NAME})
+  ament_add_gtest(test_${PROJECT_NAME}-publisher_lifecycle test/test_publisher_lifecycle.cpp)
+  if(TARGET test_${PROJECT_NAME}-publisher_lifecycle)
+    target_link_libraries(test_${PROJECT_NAME}-publisher_lifecycle ${PROJECT_NAME} rclcpp_lifecycle::rclcpp_lifecycle)
   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 ${PROJECT_NAME})
+  ament_add_gtest(test_${PROJECT_NAME}-subscriber test/test_subscriber.cpp)
+  if(TARGET test_${PROJECT_NAME}-subscriber)
+    target_link_libraries(test_${PROJECT_NAME}-subscriber ${PROJECT_NAME})
   endif()
 
-  ament_add_gtest(${PROJECT_NAME}-remapping test/test_remapping.cpp)
-  if(TARGET ${PROJECT_NAME}-remapping)
-    target_link_libraries(${PROJECT_NAME}-remapping ${PROJECT_NAME})
+  ament_add_gtest(test_${PROJECT_NAME}-subscriber_lifecycle test/test_subscriber_lifecycle.cpp)
+  if(TARGET test_${PROJECT_NAME}-subscriber_lifecycle)
+    target_link_libraries(test_${PROJECT_NAME}-subscriber_lifecycle ${PROJECT_NAME} rclcpp_lifecycle::rclcpp_lifecycle)
   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 ${PROJECT_NAME})
+  ament_add_gtest(test_${PROJECT_NAME}-message_passing test/test_message_passing.cpp)
+  if(TARGET test_${PROJECT_NAME}-message_passing)
+    target_link_libraries(test_${PROJECT_NAME}-message_passing ${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 ${PROJECT_NAME})
+  ament_add_gtest(test_${PROJECT_NAME}-message_passing_lifecycle test/test_message_passing_lifecycle.cpp)
+  if(TARGET test_${PROJECT_NAME}-message_passing_lifecycle)
+    target_link_libraries(test_${PROJECT_NAME}-message_passing_lifecycle ${PROJECT_NAME} rclcpp_lifecycle::rclcpp_lifecycle)
+  endif()
+
+  ament_add_gtest(test_${PROJECT_NAME}-remapping test/test_remapping.cpp)
+  if(TARGET test_${PROJECT_NAME}-remapping)
+    target_link_libraries(test_${PROJECT_NAME}-remapping ${PROJECT_NAME})
+  endif()
+
+  ament_add_gtest(test_${PROJECT_NAME}-remapping_lifecycle test/test_remapping_lifecycle.cpp)
+  if(TARGET test_${PROJECT_NAME}-remapping_lifecycle)
+    target_link_libraries(test_${PROJECT_NAME}-remapping_lifecycle ${PROJECT_NAME} rclcpp_lifecycle::rclcpp_lifecycle)
+  endif()
+
+  ament_add_gtest(test_${PROJECT_NAME}-qos_override test/test_qos_override.cpp)
+  if(TARGET test_${PROJECT_NAME}-qos_override)
+    target_link_libraries(test_${PROJECT_NAME}-qos_override ${PROJECT_NAME})
+  endif()
+
+  ament_add_gtest(test_${PROJECT_NAME}-qos_override_lifecycle test/test_qos_override_lifecycle.cpp)
+  if(TARGET test_${PROJECT_NAME}-qos_override_lifecycle)
+    target_link_libraries(test_${PROJECT_NAME}-qos_override_lifecycle ${PROJECT_NAME} rclcpp_lifecycle::rclcpp_lifecycle)
+  endif()
+
+  ament_add_gtest(test_${PROJECT_NAME}-single_subscriber_publisher test/test_single_subscriber_publisher.cpp)
+  if(TARGET test_${PROJECT_NAME}-single_subscriber_publisher)
+    target_link_libraries(test_${PROJECT_NAME}-single_subscriber_publisher ${PROJECT_NAME})
+  endif()
+
+  ament_add_gtest(test_${PROJECT_NAME}-single_subscriber_publisher_lifecycle test/test_single_subscriber_publisher_lifecycle.cpp)
+  if(TARGET test_${PROJECT_NAME}-single_subscriber_publisher_lifecycle)
+    target_link_libraries(test_${PROJECT_NAME}-single_subscriber_publisher_lifecycle ${PROJECT_NAME} rclcpp_lifecycle::rclcpp_lifecycle)
   endif()
 endif()
 

image_transport/include/image_transport/camera_publisher.hpp

@@ -38,6 +38,7 @@
 #include "sensor_msgs/msg/image.hpp"
 #include "sensor_msgs/msg/camera_info.hpp"
 
+#include "image_transport/node_interfaces.hpp"
 #include "image_transport/single_subscriber_publisher.hpp"
 #include "image_transport/visibility_control.hpp"
 
@@ -67,8 +68,9 @@ class CameraPublisher
   IMAGE_TRANSPORT_PUBLIC
   CameraPublisher() = default;
 
-  [[deprecated("Use CameraPublisher(..., rclcpp::QoS, ...) instead")]]
   IMAGE_TRANSPORT_PUBLIC
+  [[deprecated("Use CameraPublisher(RequiredInterfaces node_interfaces, ..., rclcpp::QoS) "
+    "instead.")]]
   CameraPublisher(
     rclcpp::Node * node,
     const std::string & base_topic,
@@ -77,7 +79,7 @@ class CameraPublisher
 
   IMAGE_TRANSPORT_PUBLIC
   CameraPublisher(
-    rclcpp::Node * node,
+    RequiredInterfaces node_interfaces,
     const std::string & base_topic,
     rclcpp::QoS custom_qos,
     rclcpp::PublisherOptions = rclcpp::PublisherOptions());

image_transport/include/image_transport/camera_subscriber.hpp

@@ -38,6 +38,7 @@
 #include "sensor_msgs/msg/camera_info.hpp"
 #include "sensor_msgs/msg/image.hpp"
 
+#include "image_transport/node_interfaces.hpp"
 #include "image_transport/visibility_control.hpp"
 
 namespace image_transport
@@ -69,8 +70,9 @@ class CameraSubscriber
   IMAGE_TRANSPORT_PUBLIC
   CameraSubscriber() = default;
 
-  [[deprecated("Use CameraSubscriber(..., rclcpp::QoS instead")]]
   IMAGE_TRANSPORT_PUBLIC
+  [[deprecated("Use CameraSubscriber(RequiredInterfaces node_interfaces, ..., rclcpp::QoS instead) "
+    "instead.")]]
   CameraSubscriber(
     rclcpp::Node * node,
     const std::string & base_topic,
@@ -80,7 +82,7 @@ class CameraSubscriber
 
   IMAGE_TRANSPORT_PUBLIC
   CameraSubscriber(
-    rclcpp::Node * node,
+    RequiredInterfaces node_interfaces,
     const std::string & base_topic,
     const Callback & callback,
     const std::string & transport,

image_transport/include/image_transport/image_transport.hpp

@@ -38,6 +38,7 @@
 
 #include "image_transport/camera_publisher.hpp"
 #include "image_transport/camera_subscriber.hpp"
+#include "image_transport/node_interfaces.hpp"
 #include "image_transport/publisher.hpp"
 #include "image_transport/subscriber.hpp"
 #include "image_transport/transport_hints.hpp"
@@ -49,28 +50,27 @@ namespace image_transport
 /*!
  * \brief Advertise an image topic, free function version.
  */
-[[deprecated("Use create_publisher(..., rclcpp::QoS, ...) instead")]]
 IMAGE_TRANSPORT_PUBLIC
+[[deprecated("Use create_publisher(RequiredInterfaces node_interfaces, ..., rclcpp::QoS) "
+  "instead.")]]
 Publisher create_publisher(
   rclcpp::Node * node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
 
-/*!
- * \brief Advertise an image topic, free function version.
- */
 IMAGE_TRANSPORT_PUBLIC
 Publisher create_publisher(
-  rclcpp::Node * node,
+  RequiredInterfaces node_interfaces,
   const std::string & base_topic,
   rclcpp::QoS custom_qos,
   rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
 
 /**
  * \brief Subscribe to an image topic, free function version.
  */
-[[deprecated("Use create_subscription(..., rclcpp::QoS, ...) instead")]]
+[[deprecated("Use create_subscription(RequiredInterfaces node_interfaces, ..., rclcpp::QoS, ...) "
+  "instead")]]
 IMAGE_TRANSPORT_PUBLIC
 Subscriber create_subscription(
   rclcpp::Node * node,
@@ -85,7 +85,7 @@ Subscriber create_subscription(
  */
 IMAGE_TRANSPORT_PUBLIC
 Subscriber create_subscription(
-  rclcpp::Node * node,
+  RequiredInterfaces node_interfaces,
   const std::string & base_topic,
   const Subscriber::Callback & callback,
   const std::string & transport,
@@ -95,7 +95,8 @@ Subscriber create_subscription(
 /*!
  * \brief Advertise a camera, free function version.
  */
-[[deprecated("Use create_camera_publisher(..., rclcpp::QoS, ...) instead")]]
+[[deprecated("Use create_camera_publisher(RequiredInterfaces node_interfaces, ..., "
+  "rclcpp::QoS, ...) instead")]]
 IMAGE_TRANSPORT_PUBLIC
 CameraPublisher create_camera_publisher(
   rclcpp::Node * node,
@@ -108,15 +109,16 @@ CameraPublisher create_camera_publisher(
  */
 IMAGE_TRANSPORT_PUBLIC
 CameraPublisher create_camera_publisher(
-  rclcpp::Node * node,
+  RequiredInterfaces node_interfaces,
   const std::string & base_topic,
   rclcpp::QoS custom_qos,
   rclcpp::PublisherOptions pub_options = rclcpp::PublisherOptions());
 
 /*!
  * \brief Subscribe to a camera, free function version.
  */
-[[deprecated("Use create_camera_subscription(..., rclcpp::QoS, ...) instead")]]
+[[deprecated("Use create_camera_subscription(RequiredInterfaces node_interfaces, ..., "
+  "rclcpp::QoS, ...) instead")]]
 IMAGE_TRANSPORT_PUBLIC
 CameraSubscriber create_camera_subscription(
   rclcpp::Node * node,
@@ -130,7 +132,7 @@ CameraSubscriber create_camera_subscription(
  */
 IMAGE_TRANSPORT_PUBLIC
 CameraSubscriber create_camera_subscription(
-  rclcpp::Node * node,
+  RequiredInterfaces node_interfaces,
   const std::string & base_topic,
   const CameraSubscriber::Callback & callback,
   const std::string & transport,
@@ -157,8 +159,12 @@ class ImageTransport
   using CameraInfoConstPtr = sensor_msgs::msg::CameraInfo::ConstSharedPtr;
 
   IMAGE_TRANSPORT_PUBLIC
+  [[deprecated("Use ImageTransport(RequiredInterfaces node_interfaces, ...) instead.")]]
   explicit ImageTransport(rclcpp::Node::SharedPtr node);
 
+  IMAGE_TRANSPORT_PUBLIC
+  explicit ImageTransport(RequiredInterfaces node_interfaces);
+
   IMAGE_TRANSPORT_PUBLIC
   ImageTransport(const ImageTransport & other);
 
@@ -493,7 +499,7 @@ class ImageTransport
 
 struct ImageTransport::Impl
 {
-  rclcpp::Node::SharedPtr node_;
+  RequiredInterfaces required_interfaces_;
 };
 
 }  // namespace image_transport

image_transport/include/image_transport/node_interfaces.hpp

@@ -0,0 +1,56 @@
+// Copyright (c) 2025, Open Source Robotics Foundation, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef IMAGE_TRANSPORT__NODE_INTERFACES_HPP_
+#define IMAGE_TRANSPORT__NODE_INTERFACES_HPP_
+
+#include <rclcpp/node_interfaces/node_interfaces.hpp>
+
+#include <rclcpp/node_interfaces/node_base_interface.hpp>
+#include <rclcpp/node_interfaces/node_logging_interface.hpp>
+#include <rclcpp/node_interfaces/node_parameters_interface.hpp>
+#include <rclcpp/node_interfaces/node_timers_interface.hpp>
+#include <rclcpp/node_interfaces/node_topics_interface.hpp>
+
+namespace image_transport
+{
+using NodeBaseInterface = rclcpp::node_interfaces::NodeBaseInterface;
+using NodeParametersInterface = rclcpp::node_interfaces::NodeParametersInterface;
+using NodeLoggingInterface = rclcpp::node_interfaces::NodeLoggingInterface;
+using NodeTimersInterface = rclcpp::node_interfaces::NodeTimersInterface;
+using NodeTopicsInterface = rclcpp::node_interfaces::NodeTopicsInterface;
+
+using RequiredInterfaces = rclcpp::node_interfaces::NodeInterfaces<
+  NodeBaseInterface,
+  NodeParametersInterface,
+  NodeLoggingInterface,
+  NodeTimersInterface,
+  NodeTopicsInterface>;
+}  // namespace image_transport
+
+#endif  // IMAGE_TRANSPORT__NODE_INTERFACES_HPP_

image_transport/include/image_transport/publisher.hpp

@@ -39,6 +39,7 @@
 
 #include "image_transport/exception.hpp"
 #include "image_transport/loader_fwds.hpp"
+#include "image_transport/node_interfaces.hpp"
 #include "image_transport/single_subscriber_publisher.hpp"
 #include "image_transport/visibility_control.hpp"
 
@@ -68,18 +69,19 @@ class Publisher
   IMAGE_TRANSPORT_PUBLIC
   Publisher() = default;
 
-  [[deprecated("Use Publisher(..., rclcpp::QoS, ...) instead")]]
   IMAGE_TRANSPORT_PUBLIC
+  [[deprecated("Use Publisher(RequiredInterfaces node_interfaces, ..., rclcpp::QoS, ...) "
+    "instead.")]]
   Publisher(
-    rclcpp::Node * nh,
+    rclcpp::Node * node,
     const std::string & base_topic,
     PubLoaderPtr loader,
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
 
   IMAGE_TRANSPORT_PUBLIC
   Publisher(
-    rclcpp::Node * nh,
+    RequiredInterfaces node_interfaces,
     const std::string & base_topic,
     PubLoaderPtr loader,
     rclcpp::QoS custom_qos,