Add in a fix for older compilers. (#2075)

* Add in a fix for older compilers.

The addition of the NodeInterfaces class made it stop compiling
with older compilers (such as gcc 9.4.0 on Ubuntu 20.04).
The error has to do with calling the copy constructor on
rclcpp::Node, which is deleted.  Work around this by removing
the NodeInterfaces shared_ptr constructor, which isn't technically
needed.

Signed-off-by: Chris Lalancette <[email protected]>

Author: clalancette

rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp

@@ -147,12 +147,6 @@ class NodeInterfaces
   : NodeInterfacesSupportsT(node)
   {}
 
-  /// NodeT::SharedPtr Constructor
-  template<typename NodeT>
-  NodeInterfaces(std::shared_ptr<NodeT> node)  // NOLINT(runtime/explicit)
-  : NodeInterfaces(node ? *node : throw std::invalid_argument("given node pointer is nullptr"))
-  {}
-
   explicit NodeInterfaces(std::shared_ptr<InterfaceTs>... args)
   : NodeInterfacesSupportsT(args ...)
   {}

rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp

@@ -44,7 +44,7 @@ TEST_F(TestNodeInterfaces, node_interfaces_nominal) {
     using rclcpp::node_interfaces::NodeInterfaces;
     using rclcpp::node_interfaces::NodeBaseInterface;
     using rclcpp::node_interfaces::NodeGraphInterface;
-    auto node_interfaces = NodeInterfaces<NodeBaseInterface, NodeGraphInterface>(node);
+    auto node_interfaces = NodeInterfaces<NodeBaseInterface, NodeGraphInterface>(*node);
   }
 
   // Implicit conversion of rclcpp::Node into function that uses NodeInterfaces of base.
@@ -55,7 +55,7 @@ TEST_F(TestNodeInterfaces, node_interfaces_nominal) {
         auto base_interface = ni.get<NodeBaseInterface>();
       };
 
-    some_func(node);
+    some_func(*node);
   }
 
   // Implicit narrowing of NodeInterfaces into a new interface NodeInterfaces with fewer interfaces.
@@ -67,7 +67,7 @@ TEST_F(TestNodeInterfaces, node_interfaces_nominal) {
         auto base_interface = ni_with_one.get<NodeBaseInterface>();
       };
 
-    NodeInterfaces<NodeBaseInterface, NodeGraphInterface> ni_with_two(node);
+    NodeInterfaces<NodeBaseInterface, NodeGraphInterface> ni_with_two(*node);
 
     some_func(ni_with_two);
   }
@@ -102,7 +102,7 @@ TEST_F(TestNodeInterfaces, node_interfaces_standard_interfaces) {
     rclcpp::node_interfaces::NodeWaitablesInterface,
     rclcpp::node_interfaces::NodeParametersInterface,
     rclcpp::node_interfaces::NodeTimeSourceInterface
-    >(node);
+    >(*node);
 }
 
 /*
@@ -134,7 +134,7 @@ TEST_F(TestNodeInterfaces, ni_init) {
     NodeWaitablesInterface,
     NodeParametersInterface,
     NodeTimeSourceInterface
-    >(node);
+    >(*node);
 
   {
     auto base = ni.get<NodeBaseInterface>();
@@ -198,7 +198,7 @@ TEST_F(TestNodeInterfaces, ni_all_init) {
   using rclcpp::node_interfaces::NodeParametersInterface;
   using rclcpp::node_interfaces::NodeTimeSourceInterface;
 
-  auto ni = rclcpp::node_interfaces::NodeInterfaces<ALL_RCLCPP_NODE_INTERFACES>(node);
+  auto ni = rclcpp::node_interfaces::NodeInterfaces<ALL_RCLCPP_NODE_INTERFACES>(*node);
 
   {
     auto base = ni.get<NodeBaseInterface>();