Fixes from review.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>

rclcpp/include/rclcpp/client.hpp

@@ -470,15 +470,13 @@ class Client : public ClientBase
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
     const std::string & service_name,
     rcl_client_options_t & client_options)
-  : ClientBase(node_base, node_graph)
+  : ClientBase(node_base, node_graph),
+    srv_type_support_handle_(rosidl_typesupport_cpp::get_service_type_support_handle<ServiceT>())
   {
-    using rosidl_typesupport_cpp::get_service_type_support_handle;
-    service_type_support_handle_ =
-      get_service_type_support_handle<ServiceT>();
     rcl_ret_t ret = rcl_client_init(
       this->get_client_handle().get(),
       this->get_rcl_node_handle(),
-      service_type_support_handle_,
+      srv_type_support_handle_,
       service_name.c_str(),
       &client_options);
     if (ret != RCL_RET_OK) {
@@ -802,7 +800,7 @@ class Client : public ClientBase
       client_handle_.get(),
       node_handle_.get(),
       clock->get_clock_handle(),
-      service_type_support_handle_,
+      srv_type_support_handle_,
       pub_opts,
       introspection_state);
 
@@ -863,7 +861,7 @@ class Client : public ClientBase
   std::mutex pending_requests_mutex_;
 
 private:
-  const rosidl_service_type_support_t * service_type_support_handle_;
+  const rosidl_service_type_support_t * srv_type_support_handle_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/service.hpp

@@ -310,11 +310,9 @@ class Service
     const std::string & service_name,
     AnyServiceCallback<ServiceT> any_callback,
     rcl_service_options_t & service_options)
-  : ServiceBase(node_handle), any_callback_(any_callback)
+  : ServiceBase(node_handle), any_callback_(any_callback),
+    srv_type_support_handle_(rosidl_typesupport_cpp::get_service_type_support_handle<ServiceT>())
   {
-    using rosidl_typesupport_cpp::get_service_type_support_handle;
-    service_type_support_handle_ = get_service_type_support_handle<ServiceT>();
-
     // rcl does the static memory allocation here
     service_handle_ = std::shared_ptr<rcl_service_t>(
       new rcl_service_t, [handle = node_handle_, service_name](rcl_service_t * service)
@@ -333,7 +331,7 @@ class Service
     rcl_ret_t ret = rcl_service_init(
       service_handle_.get(),
       node_handle.get(),
-      service_type_support_handle_,
+      srv_type_support_handle_,
       service_name.c_str(),
       &service_options);
     if (ret != RCL_RET_OK) {
@@ -373,8 +371,8 @@ class Service
     std::shared_ptr<rcl_node_t> node_handle,
     std::shared_ptr<rcl_service_t> service_handle,
     AnyServiceCallback<ServiceT> any_callback)
-  : ServiceBase(node_handle),
-    any_callback_(any_callback)
+  : ServiceBase(node_handle), any_callback_(any_callback),
+    srv_type_support_handle_(rosidl_typesupport_cpp::get_service_type_support_handle<ServiceT>())
   {
     // check if service handle was initialized
     if (!rcl_service_is_valid(service_handle.get())) {
@@ -408,8 +406,8 @@ class Service
     std::shared_ptr<rcl_node_t> node_handle,
     rcl_service_t * service_handle,
     AnyServiceCallback<ServiceT> any_callback)
-  : ServiceBase(node_handle),
-    any_callback_(any_callback)
+  : ServiceBase(node_handle), any_callback_(any_callback),
+    srv_type_support_handle_(rosidl_typesupport_cpp::get_service_type_support_handle<ServiceT>())
   {
     // check if service handle was initialized
     if (!rcl_service_is_valid(service_handle)) {
@@ -507,7 +505,7 @@ class Service
       service_handle_.get(),
       node_handle_.get(),
       clock->get_clock_handle(),
-      service_type_support_handle_,
+      srv_type_support_handle_,
       pub_opts,
       introspection_state);
 
@@ -521,7 +519,7 @@ class Service
 
   AnyServiceCallback<ServiceT> any_callback_;
 
-  const rosidl_service_type_support_t * service_type_support_handle_;
+  const rosidl_service_type_support_t * srv_type_support_handle_;
 };
 
 }  // namespace rclcpp

rclcpp/test/rclcpp/test_service_introspection.cpp

@@ -1,4 +1,4 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
+// Copyright 2022 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.