Simplify NodeInterface API mehotd call

[ahcorde]

I simplify the std::shared_ptr NodeInterfaces to just the type NodeInterfaces. The motivation is to simplify how the API call is done:

auto node_interfaces = std::make_shared<rclcpp::node_interfaces::NodeInterfaces<
               rclcpp::node_interfaces::NodeBaseInterface,
               rclcpp::node_interfaces::NodeParametersInterface,
               rclcpp::node_interfaces::NodeTopicsInterface,
               rclcpp::node_interfaces::NodeLoggingInterface
             >>(
      node->get_node_base_interface(),
      node->get_node_parameters_interface(),
      node->get_node_topics_interface(),
      node->get_node_logging_interface()
             );
     
      PointCloudTransport(node_interfaces, ...);

now with these changes it's much more simpler:

     auto pct = PointCloudTransport(*node, ...);

FYI @elsayedelsheikh @SteveMacenski

[ahcorde]

If you have some time available I appreciate your reviews @elsayedelsheikh @SteveMacenski

[SteveMacenski]

Suggestion: Given the repetition of this - you could typedef it to make this more readable. Though, I think also keeping it as-is is useful as a reference for later readers.

Its a trade off between accessibility to general ROS developers reading this and code cleanliness.

[elsayedelsheikh]

It would be better to keep it as it is to avoid possible name conflicts later on as well.

[clalancette]

I will also point out that this is changing a public interface, so we usually do a tick-tock deprecation (same goes for all of the public APIs below).

[ahcorde]

These APIs were added on rolling, I know I already released the package but I would claim that It was unestable.

[SteveMacenski]

Do we really want to bypass the reference counter here and similar places below?

[SteveMacenski]

@ahcorde there are a number of places this is done, I only pointed out one instance

[ahcorde]

ups, I will fix it

[ahcorde]

5a35c97

[elsayedelsheikh]

Remove node_interfaces declaration lines from 84:88

[elsayedelsheikh]

LGTM!

[ahcorde]

Pulls: #129, ros2/rviz#1526
Gist: https://gist.githubusercontent.com/ahcorde/01fb470b92dc6745e1b6f3c96c7c5b2e/raw/ad40e851de49cd6204a29730daefc24eb8212ff2/ros2.repos
BUILD args: --packages-above-and-dependencies point_cloud_transport
TEST args: --packages-above point_cloud_transport
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16439

• Linux
• Linux-aarch64
• Linux-rhel
• Windows