add node_waitables_ to copy constructor. (backport #1799) (#1834)

* add node_waitables_ to copy constructor. Signed-off-by: Tomoya Fujita <[email protected]> * add node_time_source_ to copy constructor. Signed-off-by: Tomoya Fujita <[email protected]> * add construction_and_destruction_sub_node for action server. Signed-off-by: Tomoya Fujita <[email protected]> Co-authored-by: Abrar Rahman Protyasha <[email protected]> (cherry picked from commit 3019575) Co-authored-by: Tomoya Fujita <[email protected]>
ros2 · Dec 3, 2021 · a8baa3c · a8baa3c
1 parent a58f8c1
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diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp
@@ -168,6 +168,8 @@ Node::Node(
   node_services_(other.node_services_),
   node_clock_(other.node_clock_),
   node_parameters_(other.node_parameters_),
+  node_time_source_(other.node_time_source_),
+  node_waitables_(other.node_waitables_),
   node_options_(other.node_options_),
   sub_namespace_(extend_sub_namespace(other.get_sub_namespace(), sub_namespace)),
   effective_namespace_(create_effective_namespace(other.get_namespace(), sub_namespace_))

diff --git a/rclcpp_action/test/test_server.cpp b/rclcpp_action/test/test_server.cpp
@@ -205,6 +205,27 @@ TEST_F(TestServer, construction_and_destruction_wait_set_error)
   }, rclcpp::exceptions::RCLError);
 }
 
+TEST_F(TestServer, construction_and_destruction_sub_node)
+{
+  auto parent_node = std::make_shared<rclcpp::Node>("construct_node", "/rclcpp_action/construct");
+  auto sub_node = parent_node->create_sub_node("construct_sub_node");
+
+  ASSERT_NO_THROW(
+  {
+    using GoalHandle = rclcpp_action::ServerGoalHandle<Fibonacci>;
+    auto as = rclcpp_action::create_server<Fibonacci>(
+      sub_node, "fibonacci",
+      [](const GoalUUID &, std::shared_ptr<const Fibonacci::Goal>) {
+        return rclcpp_action::GoalResponse::REJECT;
+      },
+      [](std::shared_ptr<GoalHandle>) {
+        return rclcpp_action::CancelResponse::REJECT;
+      },
+      [](std::shared_ptr<GoalHandle>) {});
+    (void)as;
+  });
+}
+
 TEST_F(TestServer, handle_goal_called)
 {
   auto node = std::make_shared<rclcpp::Node>("handle_goal_node", "/rclcpp_action/handle_goal");