Expose subscription options

image_transport/include/image_transport/image_transport.hpp

@@ -70,7 +70,8 @@ Subscriber create_subscription(
   const std::string & base_topic,
   const Subscriber::Callback & callback,
   const std::string & transport,
-  rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+  SubscriptionOptionsWithVoidAllocator options = SubscriptionOptionsWithVoidAllocator());
 
 /*!
  * \brief Advertise a camera, free function version.

image_transport/include/image_transport/loader_fwds.hpp

@@ -35,6 +35,8 @@
 #ifndef IMAGE_TRANSPORT__LOADER_FWDS_HPP_
 #define IMAGE_TRANSPORT__LOADER_FWDS_HPP_
 
+#include <rclcpp/rclcpp.hpp>
+
 // Forward-declare some classes most users shouldn't care about so that
 // image_transport.hpp doesn't bring them in.
 
@@ -46,6 +48,8 @@ namespace image_transport {
   class PublisherPlugin;
   class SubscriberPlugin;
 
+  using SubscriptionOptionsWithVoidAllocator = rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>>;
+
   typedef pluginlib::ClassLoader<PublisherPlugin> PubLoader;
   typedef std::shared_ptr<PubLoader> PubLoaderPtr;
 

image_transport/include/image_transport/simple_subscriber_plugin.hpp

@@ -40,6 +40,7 @@
 
 #include <rclcpp/subscription.hpp>
 
+#include "image_transport/loader_fwds.hpp"
 #include "image_transport/subscriber_plugin.hpp"
 #include "image_transport/visibility_control.hpp"
 
@@ -116,7 +117,8 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
     rclcpp::Node * node,
     const std::string & base_topic,
     const Callback & callback,
-    rmw_qos_profile_t custom_qos)
+    rmw_qos_profile_t custom_qos,
+    SubscriptionOptionsWithVoidAllocator options)
   {
     impl_ = std::make_unique<Impl>();
     // Push each group of transport-specific parameters into a separate sub-namespace
@@ -126,7 +128,7 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
     impl_->sub_ = node->create_subscription<M>(getTopicToSubscribe(base_topic), qos,
         [this, callback](const typename std::shared_ptr<const M> msg){
           internalCallback(msg, callback);
-        });
+        }, options);
   }
 
 private:

image_transport/include/image_transport/subscriber.hpp

@@ -79,7 +79,8 @@ class Subscriber
     const Callback & callback,
     SubLoaderPtr loader,
     const std::string & transport,
-    rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    SubscriptionOptionsWithVoidAllocator options = SubscriptionOptionsWithVoidAllocator());
 
   /**
    * \brief Returns the base image topic.

image_transport/include/image_transport/subscriber_filter.hpp

@@ -41,6 +41,7 @@
 #include <sensor_msgs/msg/image.hpp>
 #include <message_filters/simple_filter.h>
 
+#include "image_transport/loader_fwds.hpp"
 #include "image_transport/image_transport.hpp"
 #include "image_transport/visibility_control.hpp"
 
@@ -115,12 +116,13 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
     rclcpp::Node * node,
     const std::string & base_topic,
     const std::string & transport,
-    rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    SubscriptionOptionsWithVoidAllocator options = SubscriptionOptionsWithVoidAllocator())
   {
     unsubscribe();
     sub_ =
       image_transport::create_subscription(node, base_topic,
-        std::bind(&SubscriberFilter::cb, this, std::placeholders::_1), transport, custom_qos);
+        std::bind(&SubscriberFilter::cb, this, std::placeholders::_1), transport, custom_qos, options);
   }
 
   /**

image_transport/include/image_transport/subscriber_plugin.hpp

@@ -39,6 +39,7 @@
 #include <rclcpp/node.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
+#include "image_transport/loader_fwds.hpp"
 #include "image_transport/visibility_control.hpp"
 
 namespace image_transport
@@ -70,9 +71,10 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
   void subscribe(
     rclcpp::Node * node, const std::string & base_topic,
     const Callback & callback,
-    rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    SubscriptionOptionsWithVoidAllocator options = SubscriptionOptionsWithVoidAllocator())
   {
-    return subscribeImpl(node, base_topic, callback, custom_qos);
+    return subscribeImpl(node, base_topic, callback, custom_qos, options);
   }
 
   /**
@@ -81,11 +83,12 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
   void subscribe(
     rclcpp::Node * node, const std::string & base_topic,
     void (*fp)(const sensor_msgs::msg::Image::ConstSharedPtr &),
-    rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    SubscriptionOptionsWithVoidAllocator options = SubscriptionOptionsWithVoidAllocator())
   {
     return subscribe(node, base_topic,
              std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr &)>(fp),
-             custom_qos);
+             custom_qos, options);
   }
 
   /**
@@ -95,10 +98,11 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
   void subscribe(
     rclcpp::Node * node, const std::string & base_topic,
     void (T::* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &), T * obj,
-    rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    SubscriptionOptionsWithVoidAllocator options = SubscriptionOptionsWithVoidAllocator())
   {
     return subscribe(node, base_topic,
-             std::bind(fp, obj, std::placeholders::_1), custom_qos);
+             std::bind(fp, obj, std::placeholders::_1), custom_qos, options);
   }
 
   /**
@@ -146,7 +150,8 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
   virtual void subscribeImpl(
     rclcpp::Node * node, const std::string & base_topic,
     const Callback & callback,
-    rmw_qos_profile_t custom_qos = rmw_qos_profile_default) = 0;
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    SubscriptionOptionsWithVoidAllocator options = SubscriptionOptionsWithVoidAllocator()) = 0;
 };
 
 }  // namespace image_transport

image_transport/src/image_transport.cpp

@@ -73,9 +73,10 @@ Subscriber create_subscription(
   const std::string & base_topic,
   const Subscriber::Callback & callback,
   const std::string & transport,
-  rmw_qos_profile_t custom_qos)
+  rmw_qos_profile_t custom_qos,
+  SubscriptionOptionsWithVoidAllocator options)
 {
-  return Subscriber(node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos);
+  return Subscriber(node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos, options);
 }
 
 CameraPublisher create_camera_publisher(

image_transport/src/subscriber.cpp

@@ -89,7 +89,8 @@ Subscriber::Subscriber(
   const Callback & callback,
   SubLoaderPtr loader,
   const std::string & transport,
-  rmw_qos_profile_t custom_qos)
+  rmw_qos_profile_t custom_qos,
+  SubscriptionOptionsWithVoidAllocator options)
 : impl_(std::make_shared<Impl>(node, loader))
 {
   // Load the plugin for the chosen transport.
@@ -125,7 +126,7 @@ Subscriber::Subscriber(
 
   // Tell plugin to subscribe.
   RCLCPP_DEBUG(impl_->logger_, "Subscribing to: %s\n", base_topic.c_str());
-  impl_->subscriber_->subscribe(node, base_topic, callback, custom_qos);
+  impl_->subscriber_->subscribe(node, base_topic, callback, custom_qos, options);
 }
 
 std::string Subscriber::getTopic() const

image_transport/test/test_subscriber.cpp

@@ -22,7 +22,10 @@ TEST_F(TestPublisher, construction_and_destruction) {
   std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr & msg)> fcn =
     [](const auto & msg) {(void)msg;};
 
-  auto sub = image_transport::create_subscription(node_.get(), "camera/image", fcn, "raw");
+  auto qos_profile = rmw_qos_profile_default;
+  auto options = rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>>();
+  auto sub = image_transport::create_subscription(
+    node_.get(), "camera/image", fcn, "raw", qos_profile, options);
 
   rclcpp::executors::SingleThreadedExecutor executor;
   executor.spin_node_some(node_);