Deprecate the shared_ptr<MessageT> subscription callback signatures

[mini-1235]

Description

• Add static assert for removed subscription callback signatures

Fixes #2972

Is this user-facing behavior change?

Yes

Did you use Generative AI?

No

Additional Information

When working on this PR, I noticed that #1713 only deprecates MessageT. However, looking at the comment here:

rclcpp/rclcpp/include/rclcpp/any_subscription_callback.hpp

Lines 140 to 154 in eb49444

	// Deprecated signatures:
	using SharedPtrCallback =
	std::function<void (std::shared_ptr<SubscribedType>)>;
	using SharedPtrROSMessageCallback =
	std::function<void (std::shared_ptr<ROSMessageType>)>;
	using SharedPtrWithInfoCallback =
	std::function<void (std::shared_ptr<SubscribedType>, const rclcpp::MessageInfo &)>;
	using SharedPtrWithInfoROSMessageCallback =
	std::function<void (
	std::shared_ptr<ROSMessageType>,
	const rclcpp::MessageInfo &)>;
	using SharedPtrSerializedMessageCallback =
	std::function<void (std::shared_ptr<rclcpp::SerializedMessage>)>;
	using SharedPtrSerializedMessageWithInfoCallback =
	std::function<void (std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &)>;

it looks like the type_adaptation/serialized message are not yet deprecated, how should we proceed?

In the meantime, I have also updated the tests for type_adaptation/serialized to use std::shared_ptr<const>

[mini-1235]

I have pulled and built the ROS2 repos from https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos (Please let me know if there are any other repos I should include)

Removing std::shared_ptr<MessageT> would have an impact on:

• robot_state_publisher: Update subscription callback signatures ros/robot_state_publisher#241
• real_time_support: Update subscription callback signatures realtime_support#135 (example)
• message filter: Update subscription callback signatures message_filters#222 (test only)
• demos: Update subscription callback signatures demos#754

Removing/Deprecating std::shared_ptr<TypeAdapter/Serialize Message> would affect:

• demos: Update subscription callback signatures demos#754
• ros2 tracing: Update subscription callback signatures ros2_tracing#217 (test only)
• rosbag2 (examples and test): Update subscription callback signatures rosbag2#2225
• system test: Update subscription callback signatures system_tests#575

[fujitatomoya]

@mini-1235 thanks for fixing up all the related packages and repositories.

changing signatures are totally fine things to do including this PR, but i want to discuss with you on either we should enforcement or deprecation here for the next release.

[mini-1235]

I am not sure how to deal with the deprecated tests here

rclcpp/rclcpp/test/rclcpp/test_any_subscription_callback.cpp

Lines 683 to 723 in 1500449

	void shared_ptr_ta_free_func(std::shared_ptr<MyEmpty>) {}
	void shared_ptr_ta_w_info_free_func(
	std::shared_ptr<MyEmpty>, const rclcpp::MessageInfo &)
	{}
	INSTANTIATE_TEST_SUITE_P(
	SharedPtrCallbackTests,
	DispatchTestsWithTA,
	::testing::Values(
	// lambda
	InstanceContext<MyTA>{"lambda_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
	[](std::shared_ptr<MyEmpty>) {})},
	InstanceContext<MyTA>{"lambda_ta_with_info",
	rclcpp::AnySubscriptionCallback<MyTA>().set(
	[](std::shared_ptr<MyEmpty>, const rclcpp::MessageInfo &) {})},
	InstanceContext<MyTA>{"lambda", rclcpp::AnySubscriptionCallback<MyTA>().set(
	[](std::shared_ptr<test_msgs::msg::Empty>) {})},
	InstanceContext<MyTA>{"lambda_with_info",
	rclcpp::AnySubscriptionCallback<MyTA>().set(
	[](std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
	// free function
	InstanceContext<MyTA>{"free_function_ta", rclcpp::AnySubscriptionCallback<MyTA>().set(
	shared_ptr_ta_free_func)},
	InstanceContext<MyTA>{"free_function_ta_with_info",
	rclcpp::AnySubscriptionCallback<MyTA>().set(
	shared_ptr_ta_w_info_free_func)},
	InstanceContext<MyTA>{"free_function", rclcpp::AnySubscriptionCallback<MyTA>().set(
	shared_ptr_free_func)},
	InstanceContext<MyTA>{"free_function_with_info",
	rclcpp::AnySubscriptionCallback<MyTA>().set(
	shared_ptr_w_info_free_func)},
	// bind function
	BindContext<MyTA, std::shared_ptr<MyEmpty>>("bind_method_ta"),
	BindContext<MyTA, std::shared_ptr<MyEmpty>, const rclcpp::MessageInfo &>(
	"bind_method_ta_with_info"),
	BindContext<MyTA, std::shared_ptr<test_msgs::msg::Empty>>("bind_method"),
	BindContext<MyTA, std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &>(
	"bind_method_with_info")
	),
	format_parameter_with_ta
	);

Should I add #define RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS 1 like the previous PR or any other better approach?

[mjcarroll]

Should I add #define RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS 1 like the previous PR or any other better approach?

Please do!

Then we can remove them in the next cycle with find/replace

[mini-1235]

Should I add #define RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS 1 like the previous PR or any other better approach?

Please do!

Then we can remove them in the next cycle with find/replace

Added!

[fujitatomoya]

lgtm with green CI.

[fujitatomoya]

Pulls: #2975
Gist: https://gist.githubusercontent.com/fujitatomoya/76e9ee5ac26e9d10c870d5850669c3aa/raw/6757efc08e3846630a7c8cd8a07f4905bcd864c1/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17705

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[mjcarroll]

@mini-1235 looks like there were some uncrustify issues here. Can you address those?

[mini-1235]

As reported in uncrustify/uncrustify#4250, this is a known issue in uncrustify 0.78.1. To avoid timeout, I will skip the uncrustify check here

[fujitatomoya]

• Linux
• Linux-aarch64
• Linux-rhel
• Windows