Adding NodeInterfaces to Buffer

[CursedRock17]

Resolves #580 by adding node_interfaces support to the constructor of tf2_ros::Buffer. Currently, this is still a work in progress to resolve the test failures. Similar to PR #576

[CursedRock17]

colcon build and colcon test both run fine locally, is there a reason the CI is failing with such a weird error on here? Also, is it better to add another class constructor for Buffer that takes in the node_interfaces and calls create_service as the only call, or can we stay simple with the basic universal constructor?

[ahcorde]

• Linux
• Linux-aarch64
• Windows

[ahcorde]

Windows is failing https://ci.ros2.org/job/ci_windows/21239/

[ahcorde]

restore TF2_ROS_PUBLIC

[CursedRock17]

Yea I imagine that's the only thing throwing it off

[CursedRock17]

So TF2_ROS_PUBLIC is essentially

#define TF2_ROS_EXPORT __declspec(dllexport)

or some similar form of dllexport. Thus, it cannot exist in the scope of a definition of it's application according to the docs. We have to immediately define the constructor for Buffer since it's a template. As for removing the macro, the original CI job has linking errors in getFrames and onTimeJump which are the only two private functions used in the constructor of Buffer. I assume that if we mark those functions as able to link, Buffer shouldn't have problems with anything else

[ahcorde]

• Linux
• Linux-aarch64
• Windows

[ahcorde]

Still some Windows failures https://ci.ros2.org/job/ci_windows/21255/console

[ahcorde]

• Windows

[ahcorde]

• Linux
• Linux-aarch64
• Windows

[methylDragon]

Just a quick PSA to use NodeInterfaces (no expected/obligated actionable, more a request for help if anyone stumbles across this).
I understand using the template approach helps prevent rippling out changes to any dependents of buffer.

• Instead of templating on NodeT, use rclcpp::node_interfaces::NodeInterfaces instead #698