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Deprecate the shared_ptr<MessageT> subscription callback signatures #2975

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Deprecate the shared_ptr<MessageT> subscription callback signatures #2975

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4d32bec
Add static assert for removed subscription callback signatures
mini-1235 Nov 7, 2025
fef1518
Deprecate shared_ptr<MessageT>
mini-1235 Nov 26, 2025
705d119
Merge remote-tracking branch 'origin/rolling' into feat/static_assert
mini-1235 Dec 7, 2025
b1b1858
Add back tests
mini-1235 Dec 7, 2025
9904ebb
Format
mini-1235 Dec 7, 2025
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28 changes: 28 additions & 0 deletions rclcpp/include/rclcpp/any_subscription_callback.hpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -392,6 +392,34 @@ class AnySubscriptionCallback
// automatically with lambda functions in cases where the arguments can be
// converted to one another, e.g. shared_ptr and unique_ptr.
using scbth = detail::SubscriptionCallbackTypeHelper<MessageT, CallbackT>;
constexpr auto is_invalid_signature =
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<SubscribedType>)>
>::value ||
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<SubscribedType>, const rclcpp::MessageInfo &)>
>::value ||
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<ROSMessageType>)>
>::value ||
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<ROSMessageType>, const rclcpp::MessageInfo &)>
>::value ||
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>
>::value ||
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &)>
>::value;
static_assert(!is_invalid_signature,
"std::shared_ptr<> callback signature is unsupported "
"Use std::shared_ptr<const> or std::unique_ptr<> instead.");

callback_variant_ = static_cast<typename scbth::callback_type>(callback);

Expand Down
79 changes: 2 additions & 77 deletions rclcpp/test/rclcpp/test_any_subscription_callback.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -177,7 +177,7 @@ TEST_F(TestAnySubscriptionCallback, is_serialized_message_callback) {
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](std::shared_ptr<rclcpp::SerializedMessage>) {});
asc.set([](std::shared_ptr<const rclcpp::SerializedMessage>) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
Expand All @@ -186,7 +186,7 @@ TEST_F(TestAnySubscriptionCallback, is_serialized_message_callback) {
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
asc.set([](std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
Expand Down Expand Up @@ -646,78 +646,3 @@ INSTANTIATE_TEST_SUITE_P(
),
format_parameter_with_ta
);

//
// Versions of `std::shared_ptr<MessageT>`
//
void shared_ptr_free_func(std::shared_ptr<test_msgs::msg::Empty>) {}
void shared_ptr_w_info_free_func(
std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &)
{}

INSTANTIATE_TEST_SUITE_P(
SharedPtrCallbackTests,
DispatchTests,
::testing::Values(
// lambda
InstanceContext{"lambda", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
[](std::shared_ptr<test_msgs::msg::Empty>) {})},
InstanceContext{"lambda_with_info",
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
[](std::shared_ptr<test_msgs::msg::Empty>, const rclcpp::MessageInfo &) {})},
// free function
InstanceContext{"free_function", rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
shared_ptr_free_func)},
InstanceContext{"free_function_with_info",
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty>().set(
shared_ptr_w_info_free_func)},
// bind function
BindContext<test_msgs::msg::Empty, std::shared_ptr<test_msgs::msg::Empty>>("bind_method"),
BindContext<test_msgs::msg::Empty, std::shared_ptr<test_msgs::msg::Empty>,
const rclcpp::MessageInfo &>(
"bind_method_with_info")
),
format_parameter
);

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
);
16 changes: 8 additions & 8 deletions rclcpp/test/rclcpp/test_subscription_publisher_with_same_type_adapter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -212,7 +212,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<std::string> msg) -> void {
std::shared_ptr<const std::string> msg) -> void {
is_received = true;
EXPECT_STREQ(message_data.c_str(), (*msg).c_str());
};
Expand All @@ -230,7 +230,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<std::string> msg,
std::shared_ptr<const std::string> msg,
const rclcpp::MessageInfo & message_info) -> void {
is_received = true;
EXPECT_STREQ(message_data.c_str(), (*msg).c_str());
Expand Down Expand Up @@ -422,7 +422,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<std::string> msg) -> void {
std::shared_ptr<const std::string> msg) -> void {
is_received = true;
EXPECT_STREQ(message_data.c_str(), (*msg).c_str());
};
Expand All @@ -440,7 +440,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<std::string> msg,
std::shared_ptr<const std::string> msg,
const rclcpp::MessageInfo & message_info) -> void {
is_received = true;
EXPECT_STREQ(message_data.c_str(), (*msg).c_str());
Expand Down Expand Up @@ -637,7 +637,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<double> msg) -> void {
std::shared_ptr<const double> msg) -> void {
is_received = true;
ASSERT_EQ(message_data, *msg);
};
Expand All @@ -656,7 +656,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<double> msg,
std::shared_ptr<const double> msg,
const rclcpp::MessageInfo & message_info) -> void {
is_received = true;
ASSERT_EQ(message_data, *msg);
Expand Down Expand Up @@ -862,7 +862,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<double> msg) -> void {
std::shared_ptr<const double> msg) -> void {
is_received = true;
ASSERT_EQ(message_data, *msg);
};
Expand All @@ -882,7 +882,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<double> msg,
std::shared_ptr<const double> msg,
const rclcpp::MessageInfo & message_info) -> void {
is_received = true;
ASSERT_EQ(message_data, *msg);
Expand Down