Split up the include of rclcpp.hpp (ros2#1027)

* Split up the include of rclcpp.hpp Instead, just bring in the headers we need. That should help reduce compilation time and memory. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
DensoADAS · Jun 28, 2022 · 3a6a68a · 3a6a68a
1 parent fa60ff7
commit 3a6a68a
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Showing 4 changed files with 17 additions and 12 deletions.
diff --git a/rosbag2_test_common/include/rosbag2_test_common/subscription_manager.hpp b/rosbag2_test_common/include/rosbag2_test_common/subscription_manager.hpp
@@ -21,8 +21,18 @@
 #include <unordered_map>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"  // rclcpp must be included before the Windows specific includes.
+#include "rclcpp/clock.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/intra_process_setting.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/publisher_base.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/serialization.hpp"
+#include "rclcpp/serialized_message.hpp"
+#include "rclcpp/subscription_base.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/utilities.hpp"
 
 namespace rosbag2_test_common
 {

diff --git a/rosbag2_transport/test/rosbag2_transport/rosbag2_transport_test_fixture.hpp b/rosbag2_transport/test/rosbag2_transport/rosbag2_transport_test_fixture.hpp
@@ -22,8 +22,6 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
-
 #include "rosbag2_cpp/reader.hpp"
 #include "rosbag2_cpp/types.hpp"
 #include "rosbag2_cpp/writer.hpp"

diff --git a/rosbag2_transport/test/rosbag2_transport/test_play_for.cpp b/rosbag2_transport/test/rosbag2_transport/test_play_for.cpp
@@ -17,17 +17,10 @@
 #include <chrono>
 #include <future>
 #include <memory>
-#include <string>
 #include <vector>
-#include <unordered_map>
 #include <utility>
 
-#include "rclcpp/rclcpp.hpp"
-
-#include "rosbag2_test_common/subscription_manager.hpp"
-
-#include "rosbag2_transport/player.hpp"
-#include "rosbag2_transport/qos.hpp"
+#include "rclcpp/duration.hpp"
 
 #include "test_msgs/msg/arrays.hpp"
 #include "test_msgs/msg/basic_types.hpp"

diff --git a/rosbag2_transport/test/rosbag2_transport/test_play_services.cpp b/rosbag2_transport/test/rosbag2_transport/test_play_services.cpp
@@ -19,7 +19,11 @@
 #include <vector>
 #include <utility>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/client.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "rosbag2_interfaces/srv/is_paused.hpp"
 #include "rosbag2_interfaces/srv/pause.hpp"