Implement assert_liveliness()

rclcpp/include/rclcpp/node.hpp

@@ -645,15 +645,16 @@ class Node : public std::enable_shared_from_this<Node>
   const NodeOptions &
   get_node_options() const;
 
-  /// Manually assert that this Node is alive (for RMW_QOS_POLICY_MANUAL_BY_NODE)
+
+  /// Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE)
   /**
-   * If the rmw Liveliness policy is set to RMW_QOS_POLICY_MANUAL_BY_NODE, the creator of this
-   * Node must manually call `assert_liveliness` periodically to signal that this Node
-   * is still alive. Must be called at least as often as qos_profile's Liveliness lease_duration
+   * If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE, the creator
+   * of this node may manually call `assert_liveliness` at some point in time to signal to the rest
+   * of the system that this Node is still alive.
    */
   RCLCPP_PUBLIC
-  void
-  assert_liveliness() {}
+  bool
+  assert_liveliness() const;
 
 protected:
   /// Construct a sub-node, which will extend the namespace of all entities created with it.

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -86,6 +86,11 @@ class NodeBase : public NodeBaseInterface
   std::shared_ptr<const rcl_node_t>
   get_shared_rcl_node_handle() const;
 
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  assert_liveliness() const;
+
   RCLCPP_PUBLIC
   virtual
   rclcpp::callback_group::CallbackGroup::SharedPtr

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -102,6 +102,12 @@ class NodeBaseInterface
   std::shared_ptr<const rcl_node_t>
   get_shared_rcl_node_handle() const = 0;
 
+  /// Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE)
+  RCLCPP_PUBLIC
+  virtual
+  bool
+  assert_liveliness() const = 0;
+
   /// Create and return a callback group.
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/publisher.hpp

@@ -138,15 +138,15 @@ class PublisherBase
   size_t
   get_intra_process_subscription_count() const;
 
-  /// Manually assert that this Publisher is alive (for RMW_QOS_POLICY_MANUAL_BY_TOPIC)
+  /// Manually assert that this Publisher is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
   /**
-   * If the rmw Liveliness policy is set to RMW_QOS_POLICY_MANUAL_BY_TOPIC, the creator of this
-   * Publisher must manually call `assert_liveliness` periodically to signal that this Publisher
-   * is still alive. Must be called at least as often as qos_profile's Liveliness lease_duration
+   * If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, the creator
+   * of this publisher may manually call `assert_liveliness` at some point in time to signal to the
+   * rest of the system that this Node is still alive.
    */
   RCLCPP_PUBLIC
-  void
-  assert_liveliness() {}
+  bool
+  assert_liveliness() const;
 
   /// Compare this publisher to a gid.
   /**
@@ -200,7 +200,7 @@ class PublisherBase
 
   rcl_publisher_t publisher_handle_ = rcl_get_zero_initialized_publisher();
   rcl_publisher_t intra_process_publisher_handle_ = rcl_get_zero_initialized_publisher();
-  
+
   std::vector<std::shared_ptr<QOSEventHandlerBase>> event_handlers_;
 
   using IntraProcessManagerWeakPtr =

rclcpp/include/rclcpp/subscription.hpp

@@ -30,8 +30,6 @@
 
 #include "rcl_interfaces/msg/intra_process_message.hpp"
 
-#include "rclcpp/subscription_options.hpp"
-#include "rclcpp/waitable.hpp"
 #include "rclcpp/any_subscription_callback.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
@@ -42,6 +40,7 @@
 #include "rclcpp/subscription_traits.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/waitable.hpp"
 
 namespace rclcpp
 {

rclcpp/src/rclcpp/node.cpp

@@ -417,3 +417,9 @@ Node::get_node_options() const
 {
   return this->node_options_;
 }
+
+bool
+Node::assert_liveliness() const
+{
+  return node_base_->assert_liveliness();
+}

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -197,6 +197,12 @@ NodeBase::get_shared_rcl_node_handle() const
   return node_handle_;
 }
 
+bool
+NodeBase::assert_liveliness() const
+{
+  return RCL_RET_OK == rcl_node_assert_liveliness(get_rcl_node_handle());
+}
+
 rclcpp::callback_group::CallbackGroup::SharedPtr
 NodeBase::create_callback_group(rclcpp::callback_group::CallbackGroupType group_type)
 {

rclcpp/src/rclcpp/publisher.cpp

@@ -204,6 +204,12 @@ PublisherBase::get_intra_process_subscription_count() const
   return ipm->get_subscription_count(intra_process_publisher_id_);
 }
 
+bool
+PublisherBase::assert_liveliness() const
+{
+  return RCL_RET_OK == rcl_publisher_assert_liveliness(&publisher_handle_);
+}
+
 bool
 PublisherBase::operator==(const rmw_gid_t & gid) const
 {

rclcpp_action/test/test_client.cpp

@@ -205,7 +205,7 @@ class TestClient : public ::testing::Test
       action_name, allocator, &status_topic_name);
     ASSERT_EQ(RCL_RET_OK, ret);
     status_publisher = server_node->create_publisher<ActionStatusMessage>(status_topic_name,
-        nullptr, rclcpp::PublisherOptions<>(rcl_action_qos_profile_status_default));
+      rcl_action_qos_profile_status_default);
     ASSERT_TRUE(status_publisher != nullptr);
     allocator.deallocate(status_topic_name, allocator.state);
     server_executor.add_node(server_node);