From 3e7bddbaa5bb910ec4d79c16af60349fe3ba4fc7 Mon Sep 17 00:00:00 2001
From: CursedRock17 <mtglucas1@gmail.com>
Date: Wed, 3 Apr 2024 21:15:14 -0400
Subject: [PATCH] Revert "Adding NodeInterfaces to Buffer (#656)"

This reverts commit ee41ea3e1e11f8f360a14101fbca4d6a9b1bc889.
---
 tf2_ros/include/tf2_ros/buffer.h | 47 +++-----------------------------
 tf2_ros/src/buffer.cpp           | 33 ++++++++++++++++++++--
 2 files changed, 35 insertions(+), 45 deletions(-)

diff --git a/tf2_ros/include/tf2_ros/buffer.h b/tf2_ros/include/tf2_ros/buffer.h
index 13571fa9b..fad6f0f4d 100644
--- a/tf2_ros/include/tf2_ros/buffer.h
+++ b/tf2_ros/include/tf2_ros/buffer.h
@@ -36,7 +36,6 @@
 #include <memory>
 #include <mutex>
 #include <string>
-#include <utility>
 #include <unordered_map>
 
 #include "tf2_ros/async_buffer_interface.h"
@@ -48,10 +47,6 @@
 
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "tf2_msgs/srv/frame_graph.hpp"
-#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
-#include "rclcpp/node_interfaces/get_node_services_interface.hpp"
-#include "rclcpp/node_interfaces/get_node_logging_interface.hpp"
-#include "rclcpp/node_interfaces/node_logging_interface.hpp"
 #include "rclcpp/rclcpp.hpp"
 
 namespace tf2_ros
@@ -74,43 +69,11 @@ class Buffer : public BufferInterface, public AsyncBufferInterface, public tf2::
    * \param clock A clock to use for time and sleeping
    * \param cache_time How long to keep a history of transforms
    * \param node If passed advertise the view_frames service that exposes debugging information from the buffer
-   * \param  qos If passed change the quality of service of the frames_server_ service
    */
-  template<typename NodeT = rclcpp::Node::SharedPtr>
-  Buffer(
+  TF2_ROS_PUBLIC Buffer(
     rclcpp::Clock::SharedPtr clock,
     tf2::Duration cache_time = tf2::Duration(tf2::BUFFER_CORE_DEFAULT_CACHE_TIME),
-    NodeT && node = NodeT(),
-    const rclcpp::QoS & qos = rclcpp::ServicesQoS())
-  : BufferCore(cache_time), clock_(clock), timer_interface_(nullptr)
-  {
-    if (nullptr == clock_) {
-      throw std::invalid_argument("clock must be a valid instance");
-    }
-
-    auto post_jump_cb = [this](const rcl_time_jump_t & jump_info) {onTimeJump(jump_info);};
-
-    rcl_jump_threshold_t jump_threshold;
-    // Disable forward jump callbacks
-    jump_threshold.min_forward.nanoseconds = 0;
-    // Anything backwards is a jump
-    jump_threshold.min_backward.nanoseconds = -1;
-    // Callback if the clock changes too
-    jump_threshold.on_clock_change = true;
-
-    jump_handler_ = clock_->create_jump_callback(nullptr, post_jump_cb, jump_threshold);
-
-    if (node) {
-      node_logging_interface_ = rclcpp::node_interfaces::get_node_logging_interface(node);
-
-      frames_server_ = rclcpp::create_service<tf2_msgs::srv::FrameGraph>(
-        rclcpp::node_interfaces::get_node_base_interface(node),
-        rclcpp::node_interfaces::get_node_services_interface(node),
-        "tf2_frames", std::bind(
-          &Buffer::getFrames, this, std::placeholders::_1,
-          std::placeholders::_2), qos, nullptr);
-    }
-  }
+    rclcpp::Node::SharedPtr node = rclcpp::Node::SharedPtr());
 
   /** \brief Get the transform between two frames by frame ID.
    * \param target_frame The frame to which data should be transformed
@@ -312,12 +275,10 @@ class Buffer : public BufferInterface, public AsyncBufferInterface, public tf2::
     TransformStampedFuture future,
     TransformReadyCallback callback);
 
-  TF2_ROS_PUBLIC
   bool getFrames(
     const tf2_msgs::srv::FrameGraph::Request::SharedPtr req,
     tf2_msgs::srv::FrameGraph::Response::SharedPtr res);
 
-  TF2_ROS_PUBLIC
   void onTimeJump(const rcl_time_jump_t & jump);
 
   // conditionally error if dedicated_thread unset.
@@ -332,8 +293,8 @@ class Buffer : public BufferInterface, public AsyncBufferInterface, public tf2::
   /// \brief A clock to use for time and sleeping
   rclcpp::Clock::SharedPtr clock_;
 
-  /// \brief A node logging interface to access the buffer node's logger
-  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface_;
+  /// \brief A node to advertise the view_frames service
+  rclcpp::Node::SharedPtr node_;
 
   /// \brief Interface for creating timers
   CreateTimerInterface::SharedPtr timer_interface_;
diff --git a/tf2_ros/src/buffer.cpp b/tf2_ros/src/buffer.cpp
index 10ee57cc2..c3e89ebd1 100644
--- a/tf2_ros/src/buffer.cpp
+++ b/tf2_ros/src/buffer.cpp
@@ -42,6 +42,36 @@
 
 namespace tf2_ros
 {
+
+Buffer::Buffer(
+  rclcpp::Clock::SharedPtr clock, tf2::Duration cache_time,
+  rclcpp::Node::SharedPtr node)
+: BufferCore(cache_time), clock_(clock), node_(node), timer_interface_(nullptr)
+{
+  if (nullptr == clock_) {
+    throw std::invalid_argument("clock must be a valid instance");
+  }
+
+  auto post_jump_cb = [this](const rcl_time_jump_t & jump_info) {onTimeJump(jump_info);};
+
+  rcl_jump_threshold_t jump_threshold;
+  // Disable forward jump callbacks
+  jump_threshold.min_forward.nanoseconds = 0;
+  // Anything backwards is a jump
+  jump_threshold.min_backward.nanoseconds = -1;
+  // Callback if the clock changes too
+  jump_threshold.on_clock_change = true;
+
+  jump_handler_ = clock_->create_jump_callback(nullptr, post_jump_cb, jump_threshold);
+
+  if (node_) {
+    frames_server_ = node_->create_service<tf2_msgs::srv::FrameGraph>(
+      "tf2_frames", std::bind(
+        &Buffer::getFrames, this, std::placeholders::_1,
+        std::placeholders::_2));
+  }
+}
+
 inline
 tf2::Duration
 from_rclcpp(const rclcpp::Duration & rclcpp_duration)
@@ -311,8 +341,7 @@ bool Buffer::checkAndErrorDedicatedThreadPresent(std::string * error_str) const
 
 rclcpp::Logger Buffer::getLogger() const
 {
-  return node_logging_interface_ ? node_logging_interface_->get_logger() : rclcpp::get_logger(
-    "tf2_buffer");
+  return node_ ? node_->get_logger() : rclcpp::get_logger("tf2_buffer");
 }
 
 }  // namespace tf2_ros