From 1cd811a4126fc474e58c9bdd39f1205b872da9cd Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten@openrobotics.org>
Date: Fri, 17 Apr 2020 15:02:13 -0700
Subject: [PATCH] make it compile on osx

Signed-off-by: Karsten Knese <karsten@openrobotics.org>
---
 rclcpp/include/rclcpp/create_subscription.hpp | 16 ++++++----------
 rclcpp/include/rclcpp/subscription_traits.hpp |  6 ++++++
 2 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/rclcpp/include/rclcpp/create_subscription.hpp b/rclcpp/include/rclcpp/create_subscription.hpp
index fb9ffea744..33a5c7b4b2 100644
--- a/rclcpp/include/rclcpp/create_subscription.hpp
+++ b/rclcpp/include/rclcpp/create_subscription.hpp
@@ -54,12 +54,10 @@ create_subscription(
   const rosidl_message_type_support_t & type_support,
   const rclcpp::QoS & qos,
   CallbackT && callback,
-  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
-    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
-  ),
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
+  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options =
+    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>(),
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat =
     MessageMemoryStrategyT::create_default()
-  )
 )
 {
   using rclcpp::node_interfaces::get_node_topics_interface;
@@ -96,12 +94,10 @@ create_subscription(
   const std::string & topic_name,
   const rclcpp::QoS & qos,
   CallbackT && callback,
-  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
-    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
-  ),
-  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
+  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options =
+    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>(),
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat =
     MessageMemoryStrategyT::create_default()
-  )
 )
 {
   const auto type_support = *rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>();
diff --git a/rclcpp/include/rclcpp/subscription_traits.hpp b/rclcpp/include/rclcpp/subscription_traits.hpp
index ecab458bd7..c6d35a8423 100644
--- a/rclcpp/include/rclcpp/subscription_traits.hpp
+++ b/rclcpp/include/rclcpp/subscription_traits.hpp
@@ -18,6 +18,7 @@
 #include <memory>
 
 #include "rclcpp/function_traits.hpp"
+#include "rclcpp/subscription_options.hpp"
 #include "rcl/types.h"
 
 namespace rclcpp
@@ -75,6 +76,7 @@ struct extract_message_type<std::unique_ptr<MessageT, Deleter>>: extract_message
 
 template<
   typename CallbackT,
+  typename AllocatorT = std::allocator<void>,
   // Do not attempt if CallbackT is an integer (mistaken for depth)
   typename = std::enable_if_t<!std::is_integral<
     std::remove_cv_t<std::remove_reference_t<CallbackT>>>::value>,
@@ -85,6 +87,10 @@ template<
   // Do not attempt if CallbackT is a rmw_qos_profile_t (mistaken for qos profile)
   typename = std::enable_if_t<!std::is_same<
     rmw_qos_profile_t,
+    std::remove_cv_t<std::remove_reference_t<CallbackT>>>::value>,
+  // Do not attempt if CallbackT is a rclcpp::SubscriptionOptionsWithAllocator
+  typename = std::enable_if_t<!std::is_same<
+    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>,
     std::remove_cv_t<std::remove_reference_t<CallbackT>>>::value>
 >
 struct has_message_type : extract_message_type<