remove second generic parameter for create_service method

Author: marcbone

examples/minimal_client_service/src/minimal_service.rs

@@ -18,7 +18,7 @@ fn main() -> Result<(), Error> {
     let node = rclrs::create_node(&context, "minimal_service")?;
 
     let _server = node
-        .create_service::<example_interfaces::srv::AddTwoInts, _>("add_two_ints", handle_service)?;
+        .create_service::<example_interfaces::srv::AddTwoInts>("add_two_ints", handle_service)?;
 
     println!("Starting server");
     rclrs::spin(node).map_err(|err| err.into())

rclrs/src/node.rs

@@ -263,14 +263,13 @@ impl Node {
     ///
     /// [1]: crate::Service
     // TODO: make service's lifetime depend on node's lifetime
-    pub fn create_service<T, F>(
+    pub fn create_service<T>(
         &self,
         topic: &str,
-        callback: F,
+        callback: impl FnMut(&rmw_request_id_t, T::Request) -> T::Response + 'static + Send,
     ) -> Result<Arc<Service<T>>, RclrsError>
     where
         T: rosidl_runtime_rs::Service,
-        F: FnMut(&rmw_request_id_t, T::Request) -> T::Response + 'static + Send,
     {
         let service = Arc::new(Service::<T>::new(
             Arc::clone(&self.rcl_node_mtx),

rclrs_tests/src/graph_tests.rs

@@ -203,7 +203,7 @@ fn test_services() -> Result<(), RclrsError> {
     let _node_1_empty_service =
         graph
             .node1
-            .create_service::<srv::Empty, _>("graph_test_topic_4", |_, _| srv::Empty_Response {
+            .create_service::<srv::Empty>("graph_test_topic_4", |_, _| srv::Empty_Response {
                 structure_needs_at_least_one_member: 0,
             })?;
     let _node_2_empty_client = graph