Use rclcpp::guard_condition

[mauropasse]

Signed-off-by: Mauro Passerino [email protected]

[mauropasse]

I have to pass the context to SubscriptionIntraProcessBase so it can init the guard condition in the member initialization list of SubscriptionIntraProcessBase constructor. Before there was no need for this because the guard condition was initalized here, but now I can't do anymore:

SubscriptionIntraProcess::SubscriptionIntraProcess
{
  // Instead of initialize the member gc_, this is creating a new local variable gc_
  rclcpp::GuardCondition gc_(context);
}

nor I can do

SubscriptionIntraProcess(rclcpp::Context::SharedPtr context)
  : SubscriptionIntraProcessBase(topic_name, qos_profile),
    any_callback_(callback), gc_(context) // gc_ doesnt belong to SubscriptionIntraProcess, so this is an error

[mauropasse]

I created the new get_guard_condition() because in the original PR william said:

Also, anywhere the API is changed in a way that would break existing code calling it in one of our .hpp files, we need to consider deprecating it rather than just changing it. It isn't always possible, desirable, or necessary, but we need to think about each case and justify it if we don't deprecate things.

I think he was refering to I changed the original get_notify_guard_condition to return a rclcpp::GuardCondition *, but I'm not sure