keep the event alive throught the assertion, preveiting the race.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

rclcpp/include/rclcpp/generic_subscription.hpp

@@ -80,7 +80,7 @@ public:
       node_base,
       *rclcpp::get_message_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
       topic_name,
-      force_cpu_buffer_backend_(options).to_rcl_subscription_options(qos),
+      options.to_rcl_subscription_options(qos),
       options.event_callbacks,
       options.use_default_callbacks,
       DeliveredMessageKind::SERIALIZED_MESSAGE),
@@ -182,17 +182,6 @@ public:
 
 private:
   RCLCPP_DISABLE_COPY(GenericSubscription)
-
-  template<typename AllocatorT>
-  static rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>
-  force_cpu_buffer_backend_(
-    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options)
-  {
-    auto opts = options;
-    opts.acceptable_buffer_backends = "cpu";
-    return opts;
-  }
-
   AnySubscriptionCallback<rclcpp::SerializedMessage, std::allocator<void>> any_callback_;
   // The type support library should stay loaded, so it is stored in the GenericSubscription
   std::shared_ptr<rcpputils::SharedLibrary> ts_lib_;

rclcpp/include/rclcpp/service.hpp

@@ -287,7 +287,6 @@ class Service
   public std::enable_shared_from_this<Service<ServiceT>>
 {
 public:
-  using ServiceType = ServiceT;
   using CallbackType = std::function<
     void (
       const std::shared_ptr<typename ServiceT::Request>,

rclcpp/include/rclcpp/subscription_options.hpp

@@ -89,15 +89,6 @@ struct SubscriptionOptionsBase
   QosOverridingOptions qos_overriding_options;
 
   ContentFilterOptions content_filter_options;
-
-  /// Acceptable buffer backend names for this subscription.
-  /**
-   * Empty string or "cpu" means CPU-only (default for backward compatibility).
-   * "any" means all installed backends are acceptable.
-   * Comma-separated for specific backends, e.g. "cuda,demo".
-   * CPU is always implicitly acceptable regardless of this value.
-   */
-  std::string acceptable_buffer_backends{"cpu"};
 };
 
 /// Structure containing optional configuration for Subscriptions.
@@ -154,11 +145,6 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
       }
     }
 
-    if (!acceptable_buffer_backends.empty()) {
-      result.rmw_subscription_options.acceptable_buffer_backends =
-        acceptable_buffer_backends.c_str();
-    }
-
     return result;
   }
 

rclcpp/test/rclcpp/node_interfaces/test_node_graph.cpp

@@ -139,7 +139,8 @@ TEST_F(TestNodeGraph, construct_from_node)
   EXPECT_NE(nullptr, node_graph()->get_graph_guard_condition());
 
   // get_graph_event is non-const
-  EXPECT_NE(nullptr, node()->get_node_graph_interface()->get_graph_event());
+  auto event = node()->get_node_graph_interface()->get_graph_event();
+  EXPECT_NE(nullptr, event);
   EXPECT_LE(1u, node_graph()->count_graph_users());
 }
 

rclcpp_components/src/component_container_mt.cpp

@@ -24,16 +24,16 @@ int main(int argc, char * argv[])
   /// Component container with a multi-threaded executor.
   rclcpp::init(argc, argv);
 
-  rclcpp::executors::MultiThreadedExecutor::SharedPtr exec = nullptr;
-  const auto node = std::make_shared<rclcpp_components::ComponentManager>();
+  auto exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
+  auto node = std::make_shared<rclcpp_components::ComponentManager>();
   if (node->has_parameter("thread_num")) {
     const auto thread_num = node->get_parameter("thread_num").as_int();
     exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(
       rclcpp::ExecutorOptions{}, thread_num);
+    node->set_executor(exec);
   } else {
-    exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
+    node->set_executor(exec);
   }
-  node->set_executor(exec);
   exec->add_node(node);
   exec->spin();