Bug with creating a custom subscriber was fixed.

Signed-off-by: olesya <[email protected]>

Author: bks-ol

rclcpp/include/rclcpp/create_subscription.hpp

@@ -118,7 +118,10 @@ create_subscription(
     subscription_topic_stats->set_publisher_timer(timer);
   }
 
-  auto factory = rclcpp::create_subscription_factory<MessageT>(
+  auto factory = rclcpp::create_subscription_factory<MessageT, CallbackT, AllocatorT,
+                                          SubscriptionT, MessageMemoryStrategyT,
+                                          ROSMessageType
+>(
     std::forward<CallbackT>(callback),
     options,
     msg_mem_strat,

rclcpp/include/rclcpp/node_impl.hpp

@@ -97,7 +97,8 @@ Node::create_subscription(
   const SubscriptionOptionsWithAllocator<AllocatorT> & options,
   typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
 {
-  return rclcpp::create_subscription<MessageT>(
+  return rclcpp::create_subscription<
+    MessageT, CallbackT, AllocatorT, SubscriptionT, MessageMemoryStrategyT>(
     *this,
     extend_name_with_sub_namespace(topic_name, this->get_sub_namespace()),
     qos,

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -100,10 +100,7 @@ create_subscription_factory(
       const rclcpp::QoS & qos
     ) -> rclcpp::SubscriptionBase::SharedPtr
     {
-      using rclcpp::Subscription;
-      using rclcpp::SubscriptionBase;
-
-      auto sub = Subscription<MessageT, AllocatorT>::make_shared(
+      auto sub = std::make_shared<SubscriptionT>(
         node_base,
         rclcpp::get_message_type_support_handle<MessageT>(),
         topic_name,
@@ -116,7 +113,7 @@ create_subscription_factory(
       // require this->shared_from_this() which cannot be called from
       // the constructor.
       sub->post_init_setup(node_base, qos, options);
-      auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
+      auto sub_base_ptr = std::dynamic_pointer_cast<rclcpp::SubscriptionBase>(sub);
       return sub_base_ptr;
     }
   };