From c496ccce075660585c5fab5c85d95d12dd38de9d Mon Sep 17 00:00:00 2001
From: Benjamin-Tan <tan.benjaminkx@gmail.com>
Date: Sat, 6 Apr 2024 19:59:30 +0800
Subject: [PATCH 01/14] Use SharedPtr and update base class in preparation for
 lifecycle node

---
 image_transport/CMakeLists.txt                |  2 +
 .../image_transport/camera_publisher.hpp      |  2 +-
 .../image_transport/camera_subscriber.hpp     |  2 +-
 .../image_transport/image_transport.hpp       |  8 +--
 .../include/image_transport/publisher.hpp     |  2 +-
 .../image_transport/publisher_plugin.hpp      | 57 ++++++++++++++++++-
 .../simple_publisher_plugin.hpp               | 24 +++++---
 .../simple_subscriber_plugin.hpp              | 26 ++++++---
 .../include/image_transport/subscriber.hpp    |  2 +-
 .../image_transport/subscriber_filter.hpp     |  4 +-
 .../image_transport/subscriber_plugin.hpp     | 43 ++++++++++++--
 image_transport/src/camera_publisher.cpp      |  4 +-
 image_transport/src/camera_subscriber.cpp     |  4 +-
 image_transport/src/image_transport.cpp       | 20 +++----
 image_transport/src/publisher.cpp             |  4 +-
 image_transport/src/republish.cpp             |  8 +--
 image_transport/src/subscriber.cpp            |  4 +-
 image_transport/test/test_message_passing.cpp |  8 +--
 image_transport/test/test_publisher.cpp       |  4 +-
 image_transport/test/test_qos_override.cpp    | 16 +++---
 image_transport/test/test_remapping.cpp       |  4 +-
 image_transport/test/test_subscriber.cpp      |  6 +-
 22 files changed, 179 insertions(+), 75 deletions(-)

diff --git a/image_transport/CMakeLists.txt b/image_transport/CMakeLists.txt
index 089d5a12..55c1a4b0 100644
--- a/image_transport/CMakeLists.txt
+++ b/image_transport/CMakeLists.txt
@@ -17,6 +17,7 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(sensor_msgs REQUIRED)
 
@@ -37,6 +38,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 target_link_libraries(${PROJECT_NAME} PUBLIC
   message_filters::message_filters
   rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
   ${sensor_msgs_TARGETS})
 target_link_libraries(${PROJECT_NAME} PRIVATE
   pluginlib::pluginlib)
diff --git a/image_transport/include/image_transport/camera_publisher.hpp b/image_transport/include/image_transport/camera_publisher.hpp
index 9ed81b07..4269b738 100644
--- a/image_transport/include/image_transport/camera_publisher.hpp
+++ b/image_transport/include/image_transport/camera_publisher.hpp
@@ -69,7 +69,7 @@ class CameraPublisher
 
   IMAGE_TRANSPORT_PUBLIC
   CameraPublisher(
-    rclcpp::Node * node,
+    rclcpp::Node::SharedPtr node,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions = rclcpp::PublisherOptions());
diff --git a/image_transport/include/image_transport/camera_subscriber.hpp b/image_transport/include/image_transport/camera_subscriber.hpp
index 5157111d..4ab8f1ce 100644
--- a/image_transport/include/image_transport/camera_subscriber.hpp
+++ b/image_transport/include/image_transport/camera_subscriber.hpp
@@ -71,7 +71,7 @@ class CameraSubscriber
 
   IMAGE_TRANSPORT_PUBLIC
   CameraSubscriber(
-    rclcpp::Node * node,
+    rclcpp::Node::SharedPtr node,
     const std::string & base_topic,
     const Callback & callback,
     const std::string & transport,
diff --git a/image_transport/include/image_transport/image_transport.hpp b/image_transport/include/image_transport/image_transport.hpp
index e430cd92..2a39dd9c 100644
--- a/image_transport/include/image_transport/image_transport.hpp
+++ b/image_transport/include/image_transport/image_transport.hpp
@@ -51,7 +51,7 @@ namespace image_transport
  */
 IMAGE_TRANSPORT_PUBLIC
 Publisher create_publisher(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
@@ -61,7 +61,7 @@ Publisher create_publisher(
  */
 IMAGE_TRANSPORT_PUBLIC
 Subscriber create_subscription(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
   const Subscriber::Callback & callback,
   const std::string & transport,
@@ -73,7 +73,7 @@ Subscriber create_subscription(
  */
 IMAGE_TRANSPORT_PUBLIC
 CameraPublisher create_camera_publisher(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::PublisherOptions pub_options = rclcpp::PublisherOptions());
@@ -83,7 +83,7 @@ CameraPublisher create_camera_publisher(
  */
 IMAGE_TRANSPORT_PUBLIC
 CameraSubscriber create_camera_subscription(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
   const CameraSubscriber::Callback & callback,
   const std::string & transport,
diff --git a/image_transport/include/image_transport/publisher.hpp b/image_transport/include/image_transport/publisher.hpp
index dc28d017..9e8ca067 100644
--- a/image_transport/include/image_transport/publisher.hpp
+++ b/image_transport/include/image_transport/publisher.hpp
@@ -70,7 +70,7 @@ class Publisher
 
   IMAGE_TRANSPORT_PUBLIC
   Publisher(
-    rclcpp::Node * nh,
+    rclcpp::Node::SharedPtr nh,
     const std::string & base_topic,
     PubLoaderPtr loader,
     rmw_qos_profile_t custom_qos,
diff --git a/image_transport/include/image_transport/publisher_plugin.hpp b/image_transport/include/image_transport/publisher_plugin.hpp
index d899349e..8820f754 100644
--- a/image_transport/include/image_transport/publisher_plugin.hpp
+++ b/image_transport/include/image_transport/publisher_plugin.hpp
@@ -33,6 +33,7 @@
 #include <vector>
 
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "sensor_msgs/msg/image.hpp"
 
 #include "image_transport/single_subscriber_publisher.hpp"
@@ -63,14 +64,56 @@ class PublisherPlugin
    * \brief Advertise a topic, simple version.
    */
   void advertise(
-    rclcpp::Node * nh,
+    rclcpp::Node::SharedPtr nh,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
   {
-    advertiseImpl(nh, base_topic, custom_qos, options);
+    if (impl_) {
+      throw std::runtime_error("advertise has been called previously!");
+    }
+    impl_ = std::make_unique<Impl>();
+    impl_->node_ = nh;
+    advertise(base_topic, custom_qos, options);
   }
 
+  void advertise(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr nh,
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
+  {
+    if (impl_) {
+      throw std::runtime_error("advertise has been called previously!");
+    }
+    impl_ = std::make_unique<Impl>();
+    impl_->lifecycle_node_ = nh;
+    advertise(base_topic, custom_qos, options);
+  }
+
+  void advertise(
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
+  {
+    advertiseImpl(base_topic, custom_qos, options);
+  }
+
+  bool get_node(rclcpp::Node::SharedPtr node) const {
+    if (impl_ && impl_->node_) {
+      node = impl_->node_;
+      return true;
+    }
+    return false;
+  }
+
+  bool get_node(rclcpp_lifecycle::LifecycleNode::SharedPtr node) const {
+    if (impl_ && impl_->lifecycle_node_) {
+      node = impl_->lifecycle_node_;
+      return true;
+    }
+    return false;
+  }
   /**
    * \brief Returns the number of subscribers that are currently connected to
    * this PublisherPlugin.
@@ -135,10 +178,18 @@ class PublisherPlugin
    * \brief Advertise a topic. Must be implemented by the subclass.
    */
   virtual void advertiseImpl(
-    rclcpp::Node * node,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options) = 0;
+
+private:
+  struct Impl
+  {
+    rclcpp::Node::SharedPtr node_;
+    rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
+  };
+
+  std::unique_ptr<Impl> impl_;
 };
 
 }  // namespace image_transport
diff --git a/image_transport/include/image_transport/simple_publisher_plugin.hpp b/image_transport/include/image_transport/simple_publisher_plugin.hpp
index f088c874..748d6ebe 100644
--- a/image_transport/include/image_transport/simple_publisher_plugin.hpp
+++ b/image_transport/include/image_transport/simple_publisher_plugin.hpp
@@ -99,17 +99,25 @@ class SimplePublisherPlugin : public PublisherPlugin
 
 protected:
   void advertiseImpl(
-    rclcpp::Node * node,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options) override
   {
     std::string transport_topic = getTopicToAdvertise(base_topic);
-    simple_impl_ = std::make_unique<SimplePublisherPluginImpl>(node);
+    auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
+
+    simple_impl_ = std::make_unique<SimplePublisherPluginImpl>();
+    if (get_node(simple_impl_->node_)) {
+      simple_impl_->logger_ = simple_impl_->node_->get_logger();
+      simple_impl_->pub_ = simple_impl_->node_->template create_publisher<M>(transport_topic, qos, options);
+    } else if (get_node(simple_impl_->lifecycle_node_)) {
+      simple_impl_->logger_ = simple_impl_->lifecycle_node_->get_logger();
+      simple_impl_->pub_ = simple_impl_->lifecycle_node_->template create_publisher<M>(transport_topic, qos, options);
+    } else {
+      throw std::runtime_error("Not a standard node or lifecycle node!");
+    }
 
     RCLCPP_DEBUG(simple_impl_->logger_, "getTopicToAdvertise: %s", transport_topic.c_str());
-    auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
-    simple_impl_->pub_ = node->create_publisher<M>(transport_topic, qos, options);
   }
 
   //! Generic function for publishing the internal message type.
@@ -140,13 +148,13 @@ class SimplePublisherPlugin : public PublisherPlugin
 private:
   struct SimplePublisherPluginImpl
   {
-    explicit SimplePublisherPluginImpl(rclcpp::Node * node)
-    : node_(node),
-      logger_(node->get_logger())
+    explicit SimplePublisherPluginImpl()
+    : logger_(rclcpp::get_logger("simple_publisher_plugin_impl"))
     {
     }
 
-    rclcpp::Node * node_;
+    rclcpp::Node::SharedPtr node_;
+    rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
     rclcpp::Logger logger_;
     typename rclcpp::Publisher<M>::SharedPtr pub_;
   };
diff --git a/image_transport/include/image_transport/simple_subscriber_plugin.hpp b/image_transport/include/image_transport/simple_subscriber_plugin.hpp
index 189e07ab..d27ace78 100644
--- a/image_transport/include/image_transport/simple_subscriber_plugin.hpp
+++ b/image_transport/include/image_transport/simple_subscriber_plugin.hpp
@@ -109,7 +109,6 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
   }
 
   void subscribeImpl(
-    rclcpp::Node * node,
     const std::string & base_topic,
     const Callback & callback,
     rmw_qos_profile_t custom_qos,
@@ -120,17 +119,30 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
     // ros::NodeHandle param_nh(transport_hints.getParameterNH(), getTransportName());
     //
     auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
-    impl_->sub_ = node->create_subscription<M>(
-      getTopicToSubscribe(base_topic), qos,
-      [this, callback](const typename std::shared_ptr<const M> msg) {
-        internalCallback(msg, callback);
-      },
-      options);
+    if (get_node(impl_->node_)) {
+      impl_->sub_ = impl_->node_->template create_subscription<M>(
+        getTopicToSubscribe(base_topic), qos,
+        [this, callback](const typename std::shared_ptr<const M> msg) {
+          internalCallback(msg, callback);
+        },
+        options);
+    } else if (get_node(impl_->lifecycle_node_)) {
+      impl_->sub_ = impl_->lifecycle_node_->template create_subscription<M>(
+        getTopicToSubscribe(base_topic), qos,
+        [this, callback](const typename std::shared_ptr<const M> msg) {
+          internalCallback(msg, callback);
+        },
+        options);
+    } else {
+      throw std::runtime_error("Not a standard node or lifecycle node!");
+    }
   }
 
 private:
   struct Impl
   {
+    rclcpp::Node::SharedPtr node_;
+    rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
     rclcpp::SubscriptionBase::SharedPtr sub_;
   };
 
diff --git a/image_transport/include/image_transport/subscriber.hpp b/image_transport/include/image_transport/subscriber.hpp
index f0b87245..af45e1bf 100644
--- a/image_transport/include/image_transport/subscriber.hpp
+++ b/image_transport/include/image_transport/subscriber.hpp
@@ -68,7 +68,7 @@ class Subscriber
 
   IMAGE_TRANSPORT_PUBLIC
   Subscriber(
-    rclcpp::Node * node,
+    rclcpp::Node::SharedPtr node,
     const std::string & base_topic,
     const Callback & callback,
     SubLoaderPtr loader,
diff --git a/image_transport/include/image_transport/subscriber_filter.hpp b/image_transport/include/image_transport/subscriber_filter.hpp
index 37b216ed..2a588dfc 100644
--- a/image_transport/include/image_transport/subscriber_filter.hpp
+++ b/image_transport/include/image_transport/subscriber_filter.hpp
@@ -77,7 +77,7 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
    */
   IMAGE_TRANSPORT_PUBLIC
   SubscriberFilter(
-    rclcpp::Node * node, const std::string & base_topic,
+    rclcpp::Node::SharedPtr node, const std::string & base_topic,
     const std::string & transport)
   {
     subscribe(node, base_topic, transport);
@@ -107,7 +107,7 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
    */
   IMAGE_TRANSPORT_PUBLIC
   void subscribe(
-    rclcpp::Node * node,
+    rclcpp::Node::SharedPtr node,
     const std::string & base_topic,
     const std::string & transport,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
diff --git a/image_transport/include/image_transport/subscriber_plugin.hpp b/image_transport/include/image_transport/subscriber_plugin.hpp
index bae15b9c..95e5856b 100644
--- a/image_transport/include/image_transport/subscriber_plugin.hpp
+++ b/image_transport/include/image_transport/subscriber_plugin.hpp
@@ -34,6 +34,7 @@
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "sensor_msgs/msg/image.hpp"
 
 #include "image_transport/visibility_control.hpp"
@@ -65,19 +66,25 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
    * \brief Subscribe to an image topic, version for arbitrary std::function object.
    */
   void subscribe(
-    rclcpp::Node * node, const std::string & base_topic,
+    rclcpp::Node::SharedPtr node, const std::string & base_topic,
     const Callback & callback,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
   {
-    return subscribeImpl(node, base_topic, callback, custom_qos, options);
+    if (impl_) {
+      throw std::runtime_error("advertise has been called previously!");
+    }
+    impl_ = std::make_unique<Impl>();
+    impl_->node_ = node;
+
+    return subscribeImpl(base_topic, callback, custom_qos, options);
   }
 
   /**
    * \brief Subscribe to an image topic, version for bare function.
    */
   void subscribe(
-    rclcpp::Node * node, const std::string & base_topic,
+    rclcpp::Node::SharedPtr node, const std::string & base_topic,
     void (* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &),
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
@@ -93,7 +100,7 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
    */
   template<class T>
   void subscribe(
-    rclcpp::Node * node, const std::string & base_topic,
+    rclcpp::Node::SharedPtr node, const std::string & base_topic,
     void (T::* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &), T * obj,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
@@ -108,7 +115,7 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
    */
   template<class T>
   void subscribe(
-    rclcpp::Node * node, const std::string & base_topic,
+    rclcpp::Node::SharedPtr node, const std::string & base_topic,
     void (T::* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &),
     std::shared_ptr<T> & obj,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
@@ -118,6 +125,22 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
       std::bind(fp, obj, std::placeholders::_1), custom_qos);
   }
 
+  bool get_node(rclcpp::Node::SharedPtr node) const {
+    if (impl_ && impl_->node_) {
+      node = impl_->node_;
+      return true;
+    }
+    return false;
+  }
+
+  bool get_node(rclcpp_lifecycle::LifecycleNode::SharedPtr node) const {
+    if (impl_ && impl_->lifecycle_node_) {
+      node = impl_->lifecycle_node_;
+      return true;
+    }
+    return false;
+  }
+
   /**
    * \brief Get the transport-specific communication topic.
    */
@@ -147,11 +170,19 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
    * \brief Subscribe to an image transport topic. Must be implemented by the subclass.
    */
   virtual void subscribeImpl(
-    rclcpp::Node * node,
     const std::string & base_topic,
     const Callback & callback,
     rmw_qos_profile_t custom_qos,
     rclcpp::SubscriptionOptions options) = 0;
+
+private:
+  struct Impl
+  {
+    rclcpp::Node::SharedPtr node_;
+    rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
+  };
+
+  std::unique_ptr<Impl> impl_;
 };
 
 }  // namespace image_transport
diff --git a/image_transport/src/camera_publisher.cpp b/image_transport/src/camera_publisher.cpp
index 7c1ae450..f51fcb45 100644
--- a/image_transport/src/camera_publisher.cpp
+++ b/image_transport/src/camera_publisher.cpp
@@ -43,7 +43,7 @@ namespace image_transport
 
 struct CameraPublisher::Impl
 {
-  explicit Impl(rclcpp::Node * node)
+  explicit Impl(rclcpp::Node::SharedPtr node)
   : logger_(node->get_logger()),
     unadvertised_(false)
   {
@@ -75,7 +75,7 @@ struct CameraPublisher::Impl
 };
 
 CameraPublisher::CameraPublisher(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions pub_options)
diff --git a/image_transport/src/camera_subscriber.cpp b/image_transport/src/camera_subscriber.cpp
index 3075564a..99d5dce9 100644
--- a/image_transport/src/camera_subscriber.cpp
+++ b/image_transport/src/camera_subscriber.cpp
@@ -51,7 +51,7 @@ struct CameraSubscriber::Impl
   using CameraInfo = sensor_msgs::msg::CameraInfo;
   using TimeSync = message_filters::TimeSynchronizer<Image, CameraInfo>;
 
-  explicit Impl(rclcpp::Node * node)
+  explicit Impl(rclcpp::Node::SharedPtr node)
   : logger_(node->get_logger()),
     sync_(10),
     unsubscribed_(false),
@@ -107,7 +107,7 @@ struct CameraSubscriber::Impl
 };
 
 CameraSubscriber::CameraSubscriber(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
   const Callback & callback,
   const std::string & transport,
diff --git a/image_transport/src/image_transport.cpp b/image_transport/src/image_transport.cpp
index dfddcb91..5b1545b3 100644
--- a/image_transport/src/image_transport.cpp
+++ b/image_transport/src/image_transport.cpp
@@ -57,7 +57,7 @@ struct Impl
 static Impl * kImpl = new Impl();
 
 Publisher create_publisher(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions options)
@@ -66,7 +66,7 @@ Publisher create_publisher(
 }
 
 Subscriber create_subscription(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
   const Subscriber::Callback & callback,
   const std::string & transport,
@@ -77,7 +77,7 @@ Subscriber create_subscription(
 }
 
 CameraPublisher create_camera_publisher(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions pub_options)
@@ -86,7 +86,7 @@ CameraPublisher create_camera_publisher(
 }
 
 CameraSubscriber create_camera_subscription(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
   const CameraSubscriber::Callback & callback,
   const std::string & transport,
@@ -147,7 +147,7 @@ Publisher ImageTransport::advertise(const std::string & base_topic, uint32_t que
   (void) latch;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  return create_publisher(impl_->node_.get(), base_topic, custom_qos);
+  return create_publisher(impl_->node_, base_topic, custom_qos);
 }
 
 Publisher ImageTransport::advertise(
@@ -156,7 +156,7 @@ Publisher ImageTransport::advertise(
 {
   // TODO(ros2) implement when resolved: https://github.com/ros2/ros2/issues/464
   (void) latch;
-  return create_publisher(impl_->node_.get(), base_topic, custom_qos);
+  return create_publisher(impl_->node_, base_topic, custom_qos);
 }
 
 Subscriber ImageTransport::subscribe(
@@ -168,7 +168,7 @@ Subscriber ImageTransport::subscribe(
 {
   (void) tracked_object;
   return create_subscription(
-    impl_->node_.get(), base_topic, callback,
+    impl_->node_, base_topic, callback,
     getTransportOrDefault(transport_hints), custom_qos,
     options);
 }
@@ -184,7 +184,7 @@ Subscriber ImageTransport::subscribe(
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
   return create_subscription(
-    impl_->node_.get(), base_topic, callback,
+    impl_->node_, base_topic, callback,
     getTransportOrDefault(transport_hints), custom_qos,
     options);
 }
@@ -197,7 +197,7 @@ CameraPublisher ImageTransport::advertiseCamera(
   (void) latch;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  return create_camera_publisher(impl_->node_.get(), base_topic, custom_qos);
+  return create_camera_publisher(impl_->node_, base_topic, custom_qos);
 }
 
 CameraSubscriber ImageTransport::subscribeCamera(
@@ -210,7 +210,7 @@ CameraSubscriber ImageTransport::subscribeCamera(
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
   return create_camera_subscription(
-    impl_->node_.get(), base_topic, callback,
+    impl_->node_, base_topic, callback,
     getTransportOrDefault(transport_hints), custom_qos);
 }
 
diff --git a/image_transport/src/publisher.cpp b/image_transport/src/publisher.cpp
index 0bed7b09..13048c5e 100644
--- a/image_transport/src/publisher.cpp
+++ b/image_transport/src/publisher.cpp
@@ -48,7 +48,7 @@ namespace image_transport
 
 struct Publisher::Impl
 {
-  explicit Impl(rclcpp::Node * node)
+  explicit Impl(rclcpp::Node::SharedPtr node)
   : logger_(node->get_logger()),
     unadvertised_(false)
   {
@@ -97,7 +97,7 @@ struct Publisher::Impl
 };
 
 Publisher::Publisher(
-  rclcpp::Node * node, const std::string & base_topic,
+  rclcpp::Node::SharedPtr node, const std::string & base_topic,
   PubLoaderPtr loader, rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions options)
 : impl_(std::make_shared<Impl>(node))
diff --git a/image_transport/src/republish.cpp b/image_transport/src/republish.cpp
index 499b7cf6..cfe5e773 100644
--- a/image_transport/src/republish.cpp
+++ b/image_transport/src/republish.cpp
@@ -109,7 +109,7 @@ void Republisher::initialize()
 
     pub_options.qos_overriding_options = qos_override_options;
     this->pub = image_transport::create_publisher(
-      this, out_topic,
+      shared_from_this(), out_topic,
       rmw_qos_profile_default, pub_options);
 
     // Use Publisher::publish as the subscriber callback
@@ -121,7 +121,7 @@ void Republisher::initialize()
     sub_options.qos_overriding_options = qos_override_options;
 
     this->sub = image_transport::create_subscription(
-      this, in_topic, std::bind(pub_mem_fn, &pub, std::placeholders::_1),
+      shared_from_this(), in_topic, std::bind(pub_mem_fn, &pub, std::placeholders::_1),
       in_transport, rmw_qos_profile_default, sub_options);
   } else {
     // Use one specific transport for output
@@ -133,13 +133,13 @@ void Republisher::initialize()
     std::string lookup_name = Plugin::getLookupName(out_transport);
 
     instance = loader->createUniqueInstance(lookup_name);
-    instance->advertise(this, out_topic);
+    instance->advertise(shared_from_this(), out_topic);
 
     // Use PublisherPlugin::publish as the subscriber callback
     typedef void (Plugin::* PublishMemFn)(const sensor_msgs::msg::Image::ConstSharedPtr &) const;
     PublishMemFn pub_mem_fn = &Plugin::publishPtr;
     this->sub = image_transport::create_subscription(
-      this, in_topic,
+      shared_from_this(), in_topic,
       std::bind(pub_mem_fn, instance.get(), std::placeholders::_1), in_transport);
   }
 }
diff --git a/image_transport/src/subscriber.cpp b/image_transport/src/subscriber.cpp
index 85c7927c..26445f86 100644
--- a/image_transport/src/subscriber.cpp
+++ b/image_transport/src/subscriber.cpp
@@ -46,7 +46,7 @@ namespace image_transport
 
 struct Subscriber::Impl
 {
-  Impl(rclcpp::Node * node, SubLoaderPtr loader)
+  Impl(rclcpp::Node::SharedPtr node, SubLoaderPtr loader)
   : logger_(node->get_logger()),
     loader_(loader),
     unsubscribed_(false)
@@ -82,7 +82,7 @@ struct Subscriber::Impl
 };
 
 Subscriber::Subscriber(
-  rclcpp::Node * node,
+  rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
   const Callback & callback,
   SubLoaderPtr loader,
diff --git a/image_transport/test/test_message_passing.cpp b/image_transport/test/test_message_passing.cpp
index 0a4372c3..87dbd4b3 100644
--- a/image_transport/test/test_message_passing.cpp
+++ b/image_transport/test/test_message_passing.cpp
@@ -77,9 +77,9 @@ TEST_F(MessagePassingTesting, one_message_passing)
 
   rclcpp::executors::SingleThreadedExecutor executor;
 
-  auto pub = image_transport::create_publisher(node_.get(), "camera/image");
+  auto pub = image_transport::create_publisher(node_, "camera/image");
   auto sub =
-    image_transport::create_subscription(node_.get(), "camera/image", imageCallback, "raw");
+    image_transport::create_subscription(node_, "camera/image", imageCallback, "raw");
 
   test_rclcpp::wait_for_subscriber(node_, sub.getTopic());
 
@@ -114,9 +114,9 @@ TEST_F(MessagePassingTesting, one_camera_message_passing)
 
   rclcpp::executors::SingleThreadedExecutor executor;
 
-  auto pub = image_transport::create_camera_publisher(node_.get(), "camera/image");
+  auto pub = image_transport::create_camera_publisher(node_, "camera/image");
   auto sub = image_transport::create_camera_subscription(
-    node_.get(), "camera/image",
+    node_, "camera/image",
     [](const sensor_msgs::msg::Image::ConstSharedPtr & image,
     const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info) {
       (void) image;
diff --git a/image_transport/test/test_publisher.cpp b/image_transport/test/test_publisher.cpp
index 7216b79a..6cd12454 100644
--- a/image_transport/test/test_publisher.cpp
+++ b/image_transport/test/test_publisher.cpp
@@ -47,7 +47,7 @@ class TestPublisher : public ::testing::Test
 };
 
 TEST_F(TestPublisher, publisher) {
-  auto pub = image_transport::create_publisher(node_.get(), "camera/image");
+  auto pub = image_transport::create_publisher(node_, "camera/image");
   EXPECT_EQ(node_->get_node_graph_interface()->count_publishers("camera/image"), 1u);
   pub.shutdown();
   EXPECT_EQ(node_->get_node_graph_interface()->count_publishers("camera/image"), 0u);
@@ -62,7 +62,7 @@ TEST_F(TestPublisher, image_transport_publisher) {
 }
 
 TEST_F(TestPublisher, camera_publisher) {
-  auto camera_pub = image_transport::create_camera_publisher(node_.get(), "camera/image");
+  auto camera_pub = image_transport::create_camera_publisher(node_, "camera/image");
   EXPECT_EQ(node_->get_node_graph_interface()->count_publishers("camera/image"), 1u);
   EXPECT_EQ(node_->get_node_graph_interface()->count_publishers("camera/camera_info"), 1u);
   camera_pub.shutdown();
diff --git a/image_transport/test/test_qos_override.cpp b/image_transport/test/test_qos_override.cpp
index 3b2b7ea3..4f26e6fe 100644
--- a/image_transport/test/test_qos_override.cpp
+++ b/image_transport/test/test_qos_override.cpp
@@ -64,13 +64,13 @@ class TestQosOverride : public ::testing::Test
 
 TEST_F(TestQosOverride, qos_override_publisher_without_options) {
   auto pub =
-    image_transport::create_publisher(pub_node_.get(), "camera/image", rmw_qos_profile_default);
+    image_transport::create_publisher(pub_node_, "camera/image", rmw_qos_profile_default);
   auto endpoint_info_vec = pub_node_->get_publishers_info_by_topic("camera/image");
   EXPECT_EQ(endpoint_info_vec[0].qos_profile().reliability(), rclcpp::ReliabilityPolicy::Reliable);
   pub.shutdown();
 
   pub = image_transport::create_publisher(
-    qos_override_pub_node_.get(), "camera/image", rmw_qos_profile_default);
+    qos_override_pub_node_, "camera/image", rmw_qos_profile_default);
 
   endpoint_info_vec = qos_override_pub_node_->get_publishers_info_by_topic("camera/image");
   EXPECT_EQ(
@@ -90,13 +90,13 @@ TEST_F(TestQosOverride, qos_override_publisher_with_options) {
   });
 
   auto pub = image_transport::create_publisher(
-    pub_node_.get(), "camera/image", rmw_qos_profile_default, options);
+    pub_node_, "camera/image", rmw_qos_profile_default, options);
   auto endpoint_info_vec = pub_node_->get_publishers_info_by_topic("camera/image");
   EXPECT_EQ(endpoint_info_vec[0].qos_profile().reliability(), rclcpp::ReliabilityPolicy::Reliable);
   pub.shutdown();
 
   pub = image_transport::create_publisher(
-    qos_override_pub_node_.get(), "camera/image", rmw_qos_profile_default, options);
+    qos_override_pub_node_, "camera/image", rmw_qos_profile_default, options);
 
   endpoint_info_vec = qos_override_pub_node_->get_publishers_info_by_topic("camera/image");
   EXPECT_EQ(
@@ -110,13 +110,13 @@ TEST_F(TestQosOverride, qos_override_subscriber_without_options) {
     [](const auto & msg) {(void)msg;};
 
   auto sub = image_transport::create_subscription(
-    sub_node_.get(), "camera/image", fcn, "raw", rmw_qos_profile_default);
+    sub_node_, "camera/image", fcn, "raw", rmw_qos_profile_default);
   auto endpoint_info_vec = sub_node_->get_subscriptions_info_by_topic("camera/image");
   EXPECT_EQ(endpoint_info_vec[0].qos_profile().reliability(), rclcpp::ReliabilityPolicy::Reliable);
   sub.shutdown();
 
   sub = image_transport::create_subscription(
-    qos_override_sub_node_.get(), "camera/image", fcn, "raw", rmw_qos_profile_default);
+    qos_override_sub_node_, "camera/image", fcn, "raw", rmw_qos_profile_default);
 
   endpoint_info_vec = qos_override_sub_node_->get_subscriptions_info_by_topic("camera/image");
   EXPECT_EQ(
@@ -138,13 +138,13 @@ TEST_F(TestQosOverride, qos_override_subscriber_with_options) {
   });
 
   auto sub = image_transport::create_subscription(
-    sub_node_.get(), "camera/image", fcn, "raw", rmw_qos_profile_default, options);
+    sub_node_, "camera/image", fcn, "raw", rmw_qos_profile_default, options);
   auto endpoint_info_vec = sub_node_->get_subscriptions_info_by_topic("camera/image");
   EXPECT_EQ(endpoint_info_vec[0].qos_profile().reliability(), rclcpp::ReliabilityPolicy::Reliable);
   sub.shutdown();
 
   sub = image_transport::create_subscription(
-    qos_override_sub_node_.get(), "camera/image", fcn, "raw", rmw_qos_profile_default, options);
+    qos_override_sub_node_, "camera/image", fcn, "raw", rmw_qos_profile_default, options);
 
   endpoint_info_vec = qos_override_sub_node_->get_subscriptions_info_by_topic("camera/image");
   EXPECT_EQ(
diff --git a/image_transport/test/test_remapping.cpp b/image_transport/test/test_remapping.cpp
index 9106a710..7194e1ae 100644
--- a/image_transport/test/test_remapping.cpp
+++ b/image_transport/test/test_remapping.cpp
@@ -73,14 +73,14 @@ TEST_F(TestPublisher, RemappedPublisher) {
   // Subscribe
   bool received{false};
   auto sub = image_transport::create_subscription(
-    node_remap_.get(), "old_topic",
+    node_remap_, "old_topic",
     [&received](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
       (void)msg;
       received = true;
     }, "raw");
 
   // Publish
-  auto pub = image_transport::create_publisher(node_.get(), "new_topic");
+  auto pub = image_transport::create_publisher(node_, "new_topic");
 
   ASSERT_EQ("/namespace/new_topic", sub.getTopic());
   ASSERT_EQ("/namespace/new_topic", pub.getTopic());
diff --git a/image_transport/test/test_subscriber.cpp b/image_transport/test/test_subscriber.cpp
index 75ecc827..1e68529f 100644
--- a/image_transport/test/test_subscriber.cpp
+++ b/image_transport/test/test_subscriber.cpp
@@ -50,7 +50,7 @@ TEST_F(TestSubscriber, construction_and_destruction) {
   std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr & msg)> fcn =
     [](const auto & msg) {(void)msg;};
 
-  auto sub = image_transport::create_subscription(node_.get(), "camera/image", fcn, "raw");
+  auto sub = image_transport::create_subscription(node_, "camera/image", fcn, "raw");
 
   rclcpp::executors::SingleThreadedExecutor executor;
   executor.spin_node_some(node_);
@@ -60,7 +60,7 @@ TEST_F(TestSubscriber, shutdown) {
   std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr & msg)> fcn =
     [](const auto & msg) {(void)msg;};
 
-  auto sub = image_transport::create_subscription(node_.get(), "camera/image", fcn, "raw");
+  auto sub = image_transport::create_subscription(node_, "camera/image", fcn, "raw");
   EXPECT_EQ(node_->get_node_graph_interface()->count_subscribers("camera/image"), 1u);
   sub.shutdown();
   EXPECT_EQ(node_->get_node_graph_interface()->count_subscribers("camera/image"), 0u);
@@ -72,7 +72,7 @@ TEST_F(TestSubscriber, camera_sub_shutdown) {
       const sensor_msgs::msg::CameraInfo::ConstSharedPtr &)> fcn =
     [](const auto & msg, const auto &) {(void)msg;};
 
-  auto sub = image_transport::create_camera_subscription(node_.get(), "camera/image", fcn, "raw");
+  auto sub = image_transport::create_camera_subscription(node_, "camera/image", fcn, "raw");
   EXPECT_EQ(node_->get_node_graph_interface()->count_subscribers("camera/image"), 1u);
   EXPECT_EQ(node_->get_node_graph_interface()->count_subscribers("camera/camera_info"), 1u);
   sub.shutdown();

From b0dfb86ac939015a80b7f6eec7495f8c7d3acb7b Mon Sep 17 00:00:00 2001
From: Benjamin-Tan <tan.benjaminkx@gmail.com>
Date: Sat, 6 Apr 2024 20:45:36 +0800
Subject: [PATCH 02/14] Extend lifecycle node to publisher, subscriber

---
 .../include/image_transport/publisher.hpp     | 14 ++++
 .../include/image_transport/subscriber.hpp    | 18 +++++
 .../image_transport/subscriber_plugin.hpp     | 67 +++++++++++++++-
 image_transport/src/publisher.cpp             | 80 ++++++++++++++++---
 image_transport/src/subscriber.cpp            | 50 +++++++++++-
 5 files changed, 208 insertions(+), 21 deletions(-)

diff --git a/image_transport/include/image_transport/publisher.hpp b/image_transport/include/image_transport/publisher.hpp
index 9e8ca067..c7b89343 100644
--- a/image_transport/include/image_transport/publisher.hpp
+++ b/image_transport/include/image_transport/publisher.hpp
@@ -34,6 +34,7 @@
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 #include "sensor_msgs/msg/image.hpp"
 
@@ -76,6 +77,13 @@ class Publisher
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
 
+  IMAGE_TRANSPORT_PUBLIC
+  Publisher(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr nh,
+    const std::string & base_topic,
+    PubLoaderPtr loader,
+    rmw_qos_profile_t custom_qos,
+    rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
   /*!
    * \brief Returns the number of subscribers that are currently connected to
    * this Publisher.
@@ -122,6 +130,12 @@ class Publisher
   bool operator==(const Publisher & rhs) const {return impl_ == rhs.impl_;}
 
 private:
+  Publisher(
+    const std::string & base_topic,
+    PubLoaderPtr loader,
+    rmw_qos_profile_t custom_qos,
+    rclcpp::PublisherOptions options);
+
   struct Impl;
   std::shared_ptr<Impl> impl_;
 };
diff --git a/image_transport/include/image_transport/subscriber.hpp b/image_transport/include/image_transport/subscriber.hpp
index af45e1bf..757e8e9f 100644
--- a/image_transport/include/image_transport/subscriber.hpp
+++ b/image_transport/include/image_transport/subscriber.hpp
@@ -34,6 +34,7 @@
 #include <string>
 
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "sensor_msgs/msg/image.hpp"
 
 #include "image_transport/exception.hpp"
@@ -76,6 +77,16 @@ class Subscriber
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
 
+  IMAGE_TRANSPORT_PUBLIC
+  Subscriber(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+    const std::string & base_topic,
+    const Callback & callback,
+    SubLoaderPtr loader,
+    const std::string & transport,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
+
   /**
    * \brief Returns the base image topic.
    *
@@ -113,6 +124,13 @@ class Subscriber
   bool operator==(const Subscriber & rhs) const {return impl_ == rhs.impl_;}
 
 private:
+  Subscriber(
+    const std::string & base_topic,
+    const Callback & callback,
+    const std::string & transport,
+    rmw_qos_profile_t custom_qos,
+    rclcpp::SubscriptionOptions options);
+
   struct Impl;
   std::shared_ptr<Impl> impl_;
 };
diff --git a/image_transport/include/image_transport/subscriber_plugin.hpp b/image_transport/include/image_transport/subscriber_plugin.hpp
index 95e5856b..02ae629c 100644
--- a/image_transport/include/image_transport/subscriber_plugin.hpp
+++ b/image_transport/include/image_transport/subscriber_plugin.hpp
@@ -71,11 +71,34 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
   {
-    if (impl_) {
-      throw std::runtime_error("advertise has been called previously!");
+    if (!impl_) {
+      impl_ = std::make_unique<Impl>();
+    }
+    if (impl_->lifecycle_node_) {
+      throw std::runtime_error("subscribe has been called previously with a lifecycle node!");
+    }
+    if (!impl_->node_) {
+      impl_->node_ = node;
+    }
+
+    return subscribeImpl(base_topic, callback, custom_qos, options);
+  }
+
+  void subscribe(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::string & base_topic,
+    const Callback & callback,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
+  {
+    if (!impl_) {
+      impl_ = std::make_unique<Impl>();
+    }
+    if (impl_->node_) {
+      throw std::runtime_error("subscribe has been called previously with a standard node!");
+    }
+    if (!impl_->lifecycle_node_) {
+      impl_->lifecycle_node_ = node;
     }
-    impl_ = std::make_unique<Impl>();
-    impl_->node_ = node;
 
     return subscribeImpl(base_topic, callback, custom_qos, options);
   }
@@ -95,6 +118,18 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
       custom_qos, options);
   }
 
+  void subscribe(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::string & base_topic,
+    void (* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &),
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
+  {
+    return subscribe(
+      node, base_topic,
+      std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr &)>(fp),
+      custom_qos, options);
+  }
+
   /**
    * \brief Subscribe to an image topic, version for class member function with bare pointer.
    */
@@ -110,6 +145,18 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
       std::bind(fp, obj, std::placeholders::_1), custom_qos, options);
   }
 
+  template<class T>
+  void subscribe(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::string & base_topic,
+    void (T::* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &), T * obj,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
+  {
+    return subscribe(
+      node, base_topic,
+      std::bind(fp, obj, std::placeholders::_1), custom_qos, options);
+  }
+
   /**
    * \brief Subscribe to an image topic, version for class member function with shared_ptr.
    */
@@ -125,6 +172,18 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
       std::bind(fp, obj, std::placeholders::_1), custom_qos);
   }
 
+  template<class T>
+  void subscribe(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::string & base_topic,
+    void (T::* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &),
+    std::shared_ptr<T> & obj,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
+  {
+    return subscribe(
+      node, base_topic,
+      std::bind(fp, obj, std::placeholders::_1), custom_qos);
+  }
+
   bool get_node(rclcpp::Node::SharedPtr node) const {
     if (impl_ && impl_->node_) {
       node = impl_->node_;
diff --git a/image_transport/src/publisher.cpp b/image_transport/src/publisher.cpp
index 13048c5e..8bcae088 100644
--- a/image_transport/src/publisher.cpp
+++ b/image_transport/src/publisher.cpp
@@ -49,7 +49,15 @@ namespace image_transport
 struct Publisher::Impl
 {
   explicit Impl(rclcpp::Node::SharedPtr node)
-  : logger_(node->get_logger()),
+  : node_(node),
+    logger_(node->get_logger()),
+    unadvertised_(false)
+  {
+  }
+
+  explicit Impl(rclcpp_lifecycle::LifecycleNode::SharedPtr node)
+  : lifecycle_node_(node),
+    logger_(node->get_logger()),
     unadvertised_(false)
   {
   }
@@ -89,6 +97,8 @@ struct Publisher::Impl
     }
   }
 
+  rclcpp::Node::SharedPtr node_;
+  rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
   rclcpp::Logger logger_;
   std::string base_topic_;
   PubLoaderPtr loader_;
@@ -102,15 +112,43 @@ Publisher::Publisher(
   rclcpp::PublisherOptions options)
 : impl_(std::make_shared<Impl>(node))
 {
+  Publisher(base_topic, loader, custom_qos, options);
+}
+
+Publisher::Publisher(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::string & base_topic,
+  PubLoaderPtr loader, rmw_qos_profile_t custom_qos,
+  rclcpp::PublisherOptions options)
+: impl_(std::make_shared<Impl>(node))
+{
+  Publisher(base_topic, loader, custom_qos, options);
+}
+
+Publisher::Publisher(
+  const std::string & base_topic,
+  PubLoaderPtr loader, rmw_qos_profile_t custom_qos,
+  rclcpp::PublisherOptions options)
+{
+  if (!impl_)
+  {
+    throw std::runtime_error("impl is not constructed!");
+  }
   // Resolve the name explicitly because otherwise the compressed topics don't remap
   // properly (#3652).
-  std::string image_topic = rclcpp::expand_topic_or_service_name(
-    base_topic,
-    node->get_name(), node->get_namespace());
+  std::string image_topic;
+  size_t ns_len;
+  if (impl_->node_) {
+    image_topic = rclcpp::expand_topic_or_service_name(
+      base_topic, impl_->node_->get_name(), impl_->node_->get_namespace());
+    ns_len = impl_->node_->get_effective_namespace().length();
+  } else {
+    image_topic = rclcpp::expand_topic_or_service_name(
+      base_topic, impl_->lifecycle_node_->get_name(), impl_->lifecycle_node_->get_namespace());
+    ns_len = strlen(impl_->lifecycle_node_->get_namespace());
+  }
   impl_->base_topic_ = image_topic;
   impl_->loader_ = loader;
 
-  auto ns_len = node->get_effective_namespace().length();
   std::string param_base_name = image_topic.substr(ns_len);
   std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');
   if (param_base_name.front() == '.') {
@@ -123,16 +161,28 @@ Publisher::Publisher(
     all_transport_names.emplace_back(erase_last_copy(lookup_name, "_pub"));
   }
   try {
-    allowlist_vec = node->declare_parameter<std::vector<std::string>>(
-      param_base_name + ".enable_pub_plugins", all_transport_names);
+    if (impl_->node_) {
+      allowlist_vec = impl_->node_->declare_parameter<std::vector<std::string>>(
+        param_base_name + ".enable_pub_plugins", all_transport_names);
+    } else {
+      allowlist_vec = impl_->lifecycle_node_->declare_parameter<std::vector<std::string>>(
+        param_base_name + ".enable_pub_plugins", all_transport_names);
+    }
   } catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
     RCLCPP_DEBUG_STREAM(
-      node->get_logger(), param_base_name << ".enable_pub_plugins" << " was previously declared"
+      impl_->logger_, param_base_name << ".enable_pub_plugins" << " was previously declared"
     );
-    allowlist_vec =
-      node->get_parameter(
-      param_base_name +
-      ".enable_pub_plugins").get_value<std::vector<std::string>>();
+    if (impl_->node_) {  
+      allowlist_vec =
+        impl_->node_->get_parameter(
+        param_base_name +
+        ".enable_pub_plugins").get_value<std::vector<std::string>>();
+    } else {
+      allowlist_vec =
+        impl_->lifecycle_node_->get_parameter(
+        param_base_name +
+        ".enable_pub_plugins").get_value<std::vector<std::string>>();
+    }
   }
   for (size_t i = 0; i < allowlist_vec.size(); ++i) {
     allowlist.insert(allowlist_vec[i]);
@@ -142,7 +192,11 @@ Publisher::Publisher(
     const auto & lookup_name = transport_name + "_pub";
     try {
       auto pub = loader->createUniqueInstance(lookup_name);
-      pub->advertise(node, image_topic, custom_qos, options);
+      if (impl_->node_) {
+        pub->advertise(impl_->node_, image_topic, custom_qos, options);
+      } else {
+        pub->advertise(impl_->lifecycle_node_, image_topic, custom_qos, options);
+      }
       impl_->publishers_.push_back(std::move(pub));
     } catch (const std::runtime_error & e) {
       RCLCPP_ERROR(
diff --git a/image_transport/src/subscriber.cpp b/image_transport/src/subscriber.cpp
index 26445f86..e07b0ee0 100644
--- a/image_transport/src/subscriber.cpp
+++ b/image_transport/src/subscriber.cpp
@@ -47,7 +47,16 @@ namespace image_transport
 struct Subscriber::Impl
 {
   Impl(rclcpp::Node::SharedPtr node, SubLoaderPtr loader)
-  : logger_(node->get_logger()),
+  : node_(node),
+    logger_(node->get_logger()),
+    loader_(loader),
+    unsubscribed_(false)
+  {
+  }
+
+  explicit Impl(rclcpp_lifecycle::LifecycleNode::SharedPtr node, SubLoaderPtr loader)
+  : lifecycle_node_(node),
+    logger_(node->get_logger()),
     loader_(loader),
     unsubscribed_(false)
   {
@@ -73,6 +82,8 @@ struct Subscriber::Impl
     }
   }
 
+  rclcpp::Node::SharedPtr node_;
+  rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
   rclcpp::Logger logger_;
   std::string lookup_name_;
   SubLoaderPtr loader_;
@@ -91,10 +102,37 @@ Subscriber::Subscriber(
   rclcpp::SubscriptionOptions options)
 : impl_(std::make_shared<Impl>(node, loader))
 {
+  Subscriber(base_topic, callback, transport, custom_qos, options);
+}
+
+Subscriber::Subscriber(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+  const std::string & base_topic,
+  const Callback & callback,
+  SubLoaderPtr loader,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos,
+  rclcpp::SubscriptionOptions options)
+: impl_(std::make_shared<Impl>(node, loader))
+{
+  Subscriber(base_topic, callback, transport, custom_qos, options);
+}
+
+Subscriber::Subscriber(
+  const std::string & base_topic,
+  const Callback & callback,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos,
+  rclcpp::SubscriptionOptions options)
+{
+  if (!impl_)
+  {
+    throw std::runtime_error("impl is not constructed!");
+  }
   // Load the plugin for the chosen transport.
   impl_->lookup_name_ = SubscriberPlugin::getLookupName(transport);
   try {
-    impl_->subscriber_ = loader->createSharedInstance(impl_->lookup_name_);
+    impl_->subscriber_ = impl_->loader_->createSharedInstance(impl_->lookup_name_);
   } catch (pluginlib::PluginlibException & e) {
     throw TransportLoadException(impl_->lookup_name_, e.what());
   }
@@ -108,7 +146,7 @@ Subscriber::Subscriber(
   if (found != std::string::npos) {
     std::string transport = clean_topic.substr(found + 1);
     std::string plugin_name = SubscriberPlugin::getLookupName(transport);
-    std::vector<std::string> plugins = loader->getDeclaredClasses();
+    std::vector<std::string> plugins = impl_->loader_->getDeclaredClasses();
     if (std::find(plugins.begin(), plugins.end(), plugin_name) != plugins.end()) {
       std::string real_base_topic = clean_topic.substr(0, found);
 
@@ -125,7 +163,11 @@ Subscriber::Subscriber(
 
   // Tell plugin to subscribe.
   RCLCPP_DEBUG(impl_->logger_, "Subscribing to: %s\n", base_topic.c_str());
-  impl_->subscriber_->subscribe(node, base_topic, callback, custom_qos, options);
+  if (impl_->node_) {
+    impl_->subscriber_->subscribe(impl_->node_, base_topic, callback, custom_qos, options);
+  } else {
+    impl_->subscriber_->subscribe(impl_->lifecycle_node_, base_topic, callback, custom_qos, options);
+  }
 }
 
 std::string Subscriber::getTopic() const

From 670786061c1a9bd6b6a7e3e4c3bbe8615b5eea52 Mon Sep 17 00:00:00 2001
From: Benjamin-Tan <tan.benjaminkx@gmail.com>
Date: Sat, 6 Apr 2024 21:40:04 +0800
Subject: [PATCH 03/14] Extend lifecycle node to camera publisher, camera
 subscriber, image transport free function, subscriber filter, transport hints

---
 .../image_transport/camera_publisher.hpp      |  13 ++
 .../image_transport/camera_subscriber.hpp     |  15 +++
 .../image_transport/image_transport.hpp       |  34 ++++++
 .../image_transport/subscriber_filter.hpp     |  23 ++++
 .../image_transport/transport_hints.hpp       |  12 +-
 image_transport/src/camera_publisher.cpp      |  56 ++++++++-
 image_transport/src/camera_subscriber.cpp     | 110 ++++++++++++++---
 image_transport/src/image_transport.cpp       | 115 +++++++++++++++---
 8 files changed, 340 insertions(+), 38 deletions(-)

diff --git a/image_transport/include/image_transport/camera_publisher.hpp b/image_transport/include/image_transport/camera_publisher.hpp
index 4269b738..2feb6166 100644
--- a/image_transport/include/image_transport/camera_publisher.hpp
+++ b/image_transport/include/image_transport/camera_publisher.hpp
@@ -34,6 +34,7 @@
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 #include "sensor_msgs/msg/image.hpp"
 #include "sensor_msgs/msg/camera_info.hpp"
@@ -74,6 +75,13 @@ class CameraPublisher
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions = rclcpp::PublisherOptions());
 
+  IMAGE_TRANSPORT_PUBLIC
+  CameraPublisher(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    rclcpp::PublisherOptions = rclcpp::PublisherOptions());
+
   /*!
    * \brief Returns the number of subscribers that are currently connected to
    * this CameraPublisher.
@@ -142,6 +150,11 @@ class CameraPublisher
   bool operator==(const CameraPublisher & rhs) const {return impl_ == rhs.impl_;}
 
 private:
+  CameraPublisher(
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos,
+    rclcpp::PublisherOptions options);
+
   struct Impl;
   std::shared_ptr<Impl> impl_;
 };
diff --git a/image_transport/include/image_transport/camera_subscriber.hpp b/image_transport/include/image_transport/camera_subscriber.hpp
index 4ab8f1ce..41068574 100644
--- a/image_transport/include/image_transport/camera_subscriber.hpp
+++ b/image_transport/include/image_transport/camera_subscriber.hpp
@@ -34,6 +34,7 @@
 #include <string>
 
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 #include "sensor_msgs/msg/camera_info.hpp"
 #include "sensor_msgs/msg/image.hpp"
@@ -77,6 +78,14 @@ class CameraSubscriber
     const std::string & transport,
     rmw_qos_profile_t = rmw_qos_profile_default);
 
+  IMAGE_TRANSPORT_PUBLIC
+  CameraSubscriber(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+    const std::string & base_topic,
+    const Callback & callback,
+    const std::string & transport,
+    rmw_qos_profile_t = rmw_qos_profile_default);
+
   /**
    * \brief Get the base topic (on which the raw image is published).
    */
@@ -120,6 +129,12 @@ class CameraSubscriber
   bool operator==(const CameraSubscriber & rhs) const {return impl_ == rhs.impl_;}
 
 private:
+  CameraSubscriber(
+    const std::string & base_topic,
+    const Callback & callback,
+    const std::string & transport,
+    rmw_qos_profile_t custom_qos);
+
   struct Impl;
   std::shared_ptr<Impl> impl_;
 };
diff --git a/image_transport/include/image_transport/image_transport.hpp b/image_transport/include/image_transport/image_transport.hpp
index 2a39dd9c..70b24f63 100644
--- a/image_transport/include/image_transport/image_transport.hpp
+++ b/image_transport/include/image_transport/image_transport.hpp
@@ -56,6 +56,13 @@ Publisher create_publisher(
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
 
+IMAGE_TRANSPORT_PUBLIC
+Publisher create_publisher(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+  rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
+
 /**
  * \brief Subscribe to an image topic, free function version.
  */
@@ -68,6 +75,15 @@ Subscriber create_subscription(
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
 
+IMAGE_TRANSPORT_PUBLIC
+Subscriber create_subscription(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+  const std::string & base_topic,
+  const Subscriber::Callback & callback,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+  rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
+
 /*!
  * \brief Advertise a camera, free function version.
  */
@@ -78,6 +94,13 @@ CameraPublisher create_camera_publisher(
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::PublisherOptions pub_options = rclcpp::PublisherOptions());
 
+IMAGE_TRANSPORT_PUBLIC
+CameraPublisher create_camera_publisher(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+  rclcpp::PublisherOptions pub_options = rclcpp::PublisherOptions());
+
 /*!
  * \brief Subscribe to a camera, free function version.
  */
@@ -89,6 +112,14 @@ CameraSubscriber create_camera_subscription(
   const std::string & transport,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
+IMAGE_TRANSPORT_PUBLIC
+CameraSubscriber create_camera_subscription(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+  const std::string & base_topic,
+  const CameraSubscriber::Callback & callback,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+
 IMAGE_TRANSPORT_PUBLIC
 std::vector<std::string> getDeclaredTransports();
 
@@ -112,6 +143,9 @@ class ImageTransport
   IMAGE_TRANSPORT_PUBLIC
   explicit ImageTransport(rclcpp::Node::SharedPtr node);
 
+  IMAGE_TRANSPORT_PUBLIC
+  explicit ImageTransport(rclcpp_lifecycle::LifecycleNode::SharedPtr node);
+
   IMAGE_TRANSPORT_PUBLIC
   ~ImageTransport();
 
diff --git a/image_transport/include/image_transport/subscriber_filter.hpp b/image_transport/include/image_transport/subscriber_filter.hpp
index 2a588dfc..0050df43 100644
--- a/image_transport/include/image_transport/subscriber_filter.hpp
+++ b/image_transport/include/image_transport/subscriber_filter.hpp
@@ -83,6 +83,14 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
     subscribe(node, base_topic, transport);
   }
 
+  IMAGE_TRANSPORT_PUBLIC
+  SubscriberFilter(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::string & base_topic,
+    const std::string & transport)
+  {
+    subscribe(node, base_topic, transport);
+  }
+
   /**
    * \brief Empty constructor, use subscribe() to subscribe to a topic
    */
@@ -120,6 +128,21 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
       options);
   }
 
+  IMAGE_TRANSPORT_PUBLIC
+  void subscribe(
+    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+    const std::string & base_topic,
+    const std::string & transport,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
+  {
+    unsubscribe();
+    sub_ = image_transport::create_subscription(
+      node, base_topic,
+      std::bind(&SubscriberFilter::cb, this, std::placeholders::_1), transport, custom_qos,
+      options);
+  }
+
   /**
    * \brief Force immediate unsubscription of this subscriber from its topic
    */
diff --git a/image_transport/include/image_transport/transport_hints.hpp b/image_transport/include/image_transport/transport_hints.hpp
index e014d04c..ed1c2384 100644
--- a/image_transport/include/image_transport/transport_hints.hpp
+++ b/image_transport/include/image_transport/transport_hints.hpp
@@ -33,6 +33,7 @@
 #include <string>
 
 #include "rclcpp/node.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 #include "image_transport/visibility_control.hpp"
 
@@ -59,7 +60,16 @@ class TransportHints
    */
   IMAGE_TRANSPORT_PUBLIC
   TransportHints(
-    const rclcpp::Node * node,
+    const rclcpp::Node::SharedPtr node,
+    const std::string & default_transport = "raw",
+    const std::string & parameter_name = "image_transport")
+  {
+    node->get_parameter_or<std::string>(parameter_name, transport_, default_transport);
+  }
+
+  IMAGE_TRANSPORT_PUBLIC
+  TransportHints(
+    const rclcpp_lifecycle::LifecycleNode::SharedPtr node,
     const std::string & default_transport = "raw",
     const std::string & parameter_name = "image_transport")
   {
diff --git a/image_transport/src/camera_publisher.cpp b/image_transport/src/camera_publisher.cpp
index f51fcb45..12f50c3f 100644
--- a/image_transport/src/camera_publisher.cpp
+++ b/image_transport/src/camera_publisher.cpp
@@ -44,7 +44,15 @@ namespace image_transport
 struct CameraPublisher::Impl
 {
   explicit Impl(rclcpp::Node::SharedPtr node)
-  : logger_(node->get_logger()),
+  : node_(node),
+    logger_(node->get_logger()),
+    unadvertised_(false)
+  {
+  }
+
+  explicit Impl(rclcpp_lifecycle::LifecycleNode::SharedPtr node)
+  : lifecycle_node_(node),
+    logger_(node->get_logger()),
     unadvertised_(false)
   {
   }
@@ -68,6 +76,8 @@ struct CameraPublisher::Impl
     }
   }
 
+  rclcpp::Node::SharedPtr node_;
+  rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
   rclcpp::Logger logger_;
   Publisher image_pub_;
   rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr info_pub_;
@@ -81,16 +91,50 @@ CameraPublisher::CameraPublisher(
   rclcpp::PublisherOptions pub_options)
 : impl_(std::make_shared<Impl>(node))
 {
+  CameraPublisher(base_topic, custom_qos, pub_options);
+}
+
+CameraPublisher::CameraPublisher(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos,
+  rclcpp::PublisherOptions pub_options)
+: impl_(std::make_shared<Impl>(node))
+{
+  CameraPublisher(base_topic, custom_qos, pub_options);
+}
+
+CameraPublisher::CameraPublisher(
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos,
+  rclcpp::PublisherOptions pub_options)
+{
+  if (!impl_)
+  {
+    throw std::runtime_error("impl is not constructed!");
+  }
   // Explicitly resolve name here so we compute the correct CameraInfo topic when the
   // image topic is remapped (#4539).
-  std::string image_topic = rclcpp::expand_topic_or_service_name(
-    base_topic,
-    node->get_name(), node->get_namespace());
+  std::string image_topic;
+  if (impl_->node_) {
+    image_topic = rclcpp::expand_topic_or_service_name(
+      base_topic,
+      impl_->node_->get_name(), impl_->node_->get_namespace());
+  } else {
+    image_topic = rclcpp::expand_topic_or_service_name(
+      base_topic,
+      impl_->lifecycle_node_->get_name(), impl_->lifecycle_node_->get_namespace());
+  }
   std::string info_topic = getCameraInfoTopic(image_topic);
 
   auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
-  impl_->image_pub_ = image_transport::create_publisher(node, image_topic, custom_qos, pub_options);
-  impl_->info_pub_ = node->create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
+  if (impl_->node_) {
+    impl_->image_pub_ = image_transport::create_publisher(impl_->node_, image_topic, custom_qos, pub_options);
+    impl_->info_pub_ = impl_->node_->create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
+  } else {
+    impl_->image_pub_ = image_transport::create_publisher(impl_->lifecycle_node_, image_topic, custom_qos, pub_options);
+    impl_->info_pub_ = impl_->lifecycle_node_->create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
+  }
 }
 
 size_t CameraPublisher::getNumSubscribers() const
diff --git a/image_transport/src/camera_subscriber.cpp b/image_transport/src/camera_subscriber.cpp
index 99d5dce9..d7df6591 100644
--- a/image_transport/src/camera_subscriber.cpp
+++ b/image_transport/src/camera_subscriber.cpp
@@ -52,7 +52,17 @@ struct CameraSubscriber::Impl
   using TimeSync = message_filters::TimeSynchronizer<Image, CameraInfo>;
 
   explicit Impl(rclcpp::Node::SharedPtr node)
-  : logger_(node->get_logger()),
+  : node_(node),
+    logger_(node->get_logger()),
+    sync_(10),
+    unsubscribed_(false),
+    image_received_(0), info_received_(0), both_received_(0)
+  {
+  }
+
+  explicit Impl(rclcpp_lifecycle::LifecycleNode::SharedPtr node)
+  : lifecycle_node_(node),
+    logger_(node->get_logger()),
     sync_(10),
     unsubscribed_(false),
     image_received_(0), info_received_(0), both_received_(0)
@@ -74,7 +84,11 @@ struct CameraSubscriber::Impl
     if (!unsubscribed_) {
       unsubscribed_ = true;
       image_sub_.unsubscribe();
-      info_sub_.unsubscribe();
+      if (node_) {
+        info_sub_.unsubscribe();
+      } else {
+        lifecycle_info_sub_.unsubscribe();
+      }
     }
   }
 
@@ -82,6 +96,12 @@ struct CameraSubscriber::Impl
   {
     int threshold = 3 * both_received_;
     if (image_received_ > threshold || info_received_ > threshold) {
+      std::string info_topic;
+      if (node_) {
+        info_topic = info_sub_.getTopic();
+      } else {
+        info_topic = lifecycle_info_sub_.getTopic();
+      }
       RCLCPP_WARN(
         logger_,
         "[image_transport] Topics '%s' and '%s' do not appear to be synchronized. "
@@ -89,15 +109,18 @@ struct CameraSubscriber::Impl
         "\tImage messages received:      %d\n"
         "\tCameraInfo messages received: %d\n"
         "\tSynchronized pairs:           %d",
-        image_sub_.getTopic().c_str(), info_sub_.getTopic().c_str(),
+        image_sub_.getTopic().c_str(), info_topic.c_str(),
         image_received_, info_received_, both_received_);
     }
     image_received_ = info_received_ = both_received_ = 0;
   }
 
+  rclcpp::Node::SharedPtr node_;
+  rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
   rclcpp::Logger logger_;
   SubscriberFilter image_sub_;
   message_filters::Subscriber<CameraInfo> info_sub_;
+  message_filters::Subscriber<CameraInfo, rclcpp_lifecycle::LifecycleNode> lifecycle_info_sub_;
   TimeSync sync_;
 
   bool unsubscribed_;
@@ -114,27 +137,71 @@ CameraSubscriber::CameraSubscriber(
   rmw_qos_profile_t custom_qos)
 : impl_(std::make_shared<Impl>(node))
 {
+  CameraSubscriber(base_topic, callback, transport, custom_qos);
+}
+
+CameraSubscriber::CameraSubscriber(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+  const std::string & base_topic,
+  const Callback & callback,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos)
+: impl_(std::make_shared<Impl>(node))
+{
+  CameraSubscriber(base_topic, callback, transport, custom_qos);
+}
+
+CameraSubscriber::CameraSubscriber(
+  const std::string & base_topic,
+  const Callback & callback,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos)
+{
+  if (!impl_)
+  {
+    throw std::runtime_error("impl is not constructed!");
+  }
   // Must explicitly remap the image topic since we then do some string manipulation on it
   // to figure out the sibling camera_info topic.
-  std::string image_topic = rclcpp::expand_topic_or_service_name(
-    base_topic,
-    node->get_name(), node->get_namespace());
+  std::string image_topic;
+  if (impl_->node_) {
+    image_topic = rclcpp::expand_topic_or_service_name(
+      base_topic,
+      impl_->node_->get_name(), impl_->node_->get_namespace());
+  } else {
+    image_topic = rclcpp::expand_topic_or_service_name(
+      base_topic,
+      impl_->lifecycle_node_->get_name(), impl_->lifecycle_node_->get_namespace());
+  }
   std::string info_topic = getCameraInfoTopic(image_topic);
 
-  impl_->image_sub_.subscribe(node, image_topic, transport, custom_qos);
-  impl_->info_sub_.subscribe(node, info_topic, custom_qos);
+  if (impl_->node_) {
+    impl_->image_sub_.subscribe(impl_->node_, image_topic, transport, custom_qos);
+    impl_->info_sub_.subscribe(impl_->node_, info_topic, custom_qos);
+    impl_->sync_.connectInput(impl_->image_sub_, impl_->info_sub_);
+    impl_->info_sub_.registerCallback(std::bind(increment, &impl_->info_received_));
+  } else {
+    impl_->image_sub_.subscribe(impl_->lifecycle_node_, image_topic, transport, custom_qos);
+    impl_->lifecycle_info_sub_.subscribe(impl_->lifecycle_node_, info_topic, custom_qos);
+    impl_->sync_.connectInput(impl_->image_sub_, impl_->lifecycle_info_sub_);
+    impl_->lifecycle_info_sub_.registerCallback(std::bind(increment, &impl_->info_received_));
+  }
 
-  impl_->sync_.connectInput(impl_->image_sub_, impl_->info_sub_);
   impl_->sync_.registerCallback(std::bind(callback, std::placeholders::_1, std::placeholders::_2));
 
   // Complain every 10s if it appears that the image and info topics are not synchronized
   impl_->image_sub_.registerCallback(std::bind(increment, &impl_->image_received_));
-  impl_->info_sub_.registerCallback(std::bind(increment, &impl_->info_received_));
   impl_->sync_.registerCallback(std::bind(increment, &impl_->both_received_));
 
-  impl_->check_synced_timer_ = node->create_wall_timer(
-    std::chrono::seconds(1),
-    std::bind(&Impl::checkImagesSynchronized, impl_.get()));
+  if (impl_->node_) {
+    impl_->check_synced_timer_ = impl_->node_->create_wall_timer(
+      std::chrono::seconds(1),
+      std::bind(&Impl::checkImagesSynchronized, impl_.get()));
+  } else {
+    impl_->check_synced_timer_ = impl_->lifecycle_node_->create_wall_timer(
+      std::chrono::seconds(1),
+      std::bind(&Impl::checkImagesSynchronized, impl_.get()));
+  }
 }
 
 std::string CameraSubscriber::getTopic() const
@@ -145,16 +212,29 @@ std::string CameraSubscriber::getTopic() const
 
 std::string CameraSubscriber::getInfoTopic() const
 {
-  if (impl_) {return impl_->info_sub_.getSubscriber()->get_topic_name();}
+  if (impl_) {
+    if (impl_->node_) {
+      return impl_->info_sub_.getSubscriber()->get_topic_name();
+    } else {
+      return impl_->lifecycle_info_sub_.getSubscriber()->get_topic_name();
+    }
+  }
   return std::string();
 }
 
 size_t CameraSubscriber::getNumPublishers() const
 {
   if (impl_) {
+    size_t info_pub_count;
+    if (impl_->node_) {
+      info_pub_count = impl_->info_sub_.getSubscriber()->get_publisher_count();
+    } else {
+      info_pub_count = impl_->lifecycle_info_sub_.getSubscriber()->get_publisher_count();
+    }
+
     return std::max(
       impl_->image_sub_.getSubscriber().getNumPublishers(),
-      impl_->info_sub_.getSubscriber()->get_publisher_count());
+      info_pub_count);
   }
   return 0;
 }
diff --git a/image_transport/src/image_transport.cpp b/image_transport/src/image_transport.cpp
index 5b1545b3..5d83eb95 100644
--- a/image_transport/src/image_transport.cpp
+++ b/image_transport/src/image_transport.cpp
@@ -65,6 +65,15 @@ Publisher create_publisher(
   return Publisher(node, base_topic, kImpl->pub_loader_, custom_qos, options);
 }
 
+Publisher create_publisher(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos,
+  rclcpp::PublisherOptions options)
+{
+  return Publisher(node, base_topic, kImpl->pub_loader_, custom_qos, options);
+}
+
 Subscriber create_subscription(
   rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
@@ -76,6 +85,17 @@ Subscriber create_subscription(
   return Subscriber(node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos, options);
 }
 
+Subscriber create_subscription(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+  const std::string & base_topic,
+  const Subscriber::Callback & callback,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos,
+  rclcpp::SubscriptionOptions options)
+{
+  return Subscriber(node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos, options);
+}
+
 CameraPublisher create_camera_publisher(
   rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
@@ -85,6 +105,15 @@ CameraPublisher create_camera_publisher(
   return CameraPublisher(node, base_topic, custom_qos, pub_options);
 }
 
+CameraPublisher create_camera_publisher(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos,
+  rclcpp::PublisherOptions pub_options)
+{
+  return CameraPublisher(node, base_topic, custom_qos, pub_options);
+}
+
 CameraSubscriber create_camera_subscription(
   rclcpp::Node::SharedPtr node,
   const std::string & base_topic,
@@ -95,6 +124,16 @@ CameraSubscriber create_camera_subscription(
   return CameraSubscriber(node, base_topic, callback, transport, custom_qos);
 }
 
+CameraSubscriber create_camera_subscription(
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+  const std::string & base_topic,
+  const CameraSubscriber::Callback & callback,
+  const std::string & transport,
+  rmw_qos_profile_t custom_qos)
+{
+  return CameraSubscriber(node, base_topic, callback, transport, custom_qos);
+}
+
 std::vector<std::string> getDeclaredTransports()
 {
   std::vector<std::string> transports = kImpl->sub_loader_->getDeclaredClasses();
@@ -131,6 +170,7 @@ std::vector<std::string> getLoadableTransports()
 struct ImageTransport::Impl
 {
   rclcpp::Node::SharedPtr node_;
+  rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
 };
 
 ImageTransport::ImageTransport(rclcpp::Node::SharedPtr node)
@@ -139,6 +179,12 @@ ImageTransport::ImageTransport(rclcpp::Node::SharedPtr node)
   impl_->node_ = node;
 }
 
+ImageTransport::ImageTransport(rclcpp_lifecycle::LifecycleNode::SharedPtr node)
+: impl_(std::make_unique<ImageTransport::Impl>())
+{
+  impl_->lifecycle_node_ = node;
+}
+
 ImageTransport::~ImageTransport() = default;
 
 Publisher ImageTransport::advertise(const std::string & base_topic, uint32_t queue_size, bool latch)
@@ -147,7 +193,11 @@ Publisher ImageTransport::advertise(const std::string & base_topic, uint32_t que
   (void) latch;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  return create_publisher(impl_->node_, base_topic, custom_qos);
+  if (impl_->node_) {
+    return create_publisher(impl_->node_, base_topic, custom_qos);
+  } else {
+    return create_publisher(impl_->lifecycle_node_, base_topic, custom_qos);
+  }
 }
 
 Publisher ImageTransport::advertise(
@@ -156,7 +206,11 @@ Publisher ImageTransport::advertise(
 {
   // TODO(ros2) implement when resolved: https://github.com/ros2/ros2/issues/464
   (void) latch;
-  return create_publisher(impl_->node_, base_topic, custom_qos);
+  if (impl_->node_) {
+    return create_publisher(impl_->node_, base_topic, custom_qos);
+  } else {
+    return create_publisher(impl_->lifecycle_node_, base_topic, custom_qos);
+  }
 }
 
 Subscriber ImageTransport::subscribe(
@@ -167,10 +221,17 @@ Subscriber ImageTransport::subscribe(
   const rclcpp::SubscriptionOptions options)
 {
   (void) tracked_object;
-  return create_subscription(
-    impl_->node_, base_topic, callback,
-    getTransportOrDefault(transport_hints), custom_qos,
-    options);
+  if (impl_->node_) {
+    return create_subscription(
+      impl_->node_, base_topic, callback,
+      getTransportOrDefault(transport_hints), custom_qos,
+      options);
+  } else {
+    return create_subscription(
+      impl_->lifecycle_node_, base_topic, callback,
+      getTransportOrDefault(transport_hints), custom_qos,
+      options);
+  }
 }
 
 Subscriber ImageTransport::subscribe(
@@ -183,10 +244,17 @@ Subscriber ImageTransport::subscribe(
   (void) tracked_object;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  return create_subscription(
-    impl_->node_, base_topic, callback,
-    getTransportOrDefault(transport_hints), custom_qos,
-    options);
+  if (impl_->node_) {
+    return create_subscription(
+      impl_->node_, base_topic, callback,
+      getTransportOrDefault(transport_hints), custom_qos,
+      options);
+  } else {
+    return create_subscription(
+      impl_->lifecycle_node_, base_topic, callback,
+      getTransportOrDefault(transport_hints), custom_qos,
+      options);
+  }
 }
 
 CameraPublisher ImageTransport::advertiseCamera(
@@ -197,7 +265,11 @@ CameraPublisher ImageTransport::advertiseCamera(
   (void) latch;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  return create_camera_publisher(impl_->node_, base_topic, custom_qos);
+  if (impl_->node_) {
+    return create_camera_publisher(impl_->node_, base_topic, custom_qos);
+  } else {
+    return create_camera_publisher(impl_->lifecycle_node_, base_topic, custom_qos);
+  }
 }
 
 CameraSubscriber ImageTransport::subscribeCamera(
@@ -209,9 +281,15 @@ CameraSubscriber ImageTransport::subscribeCamera(
   (void) tracked_object;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  return create_camera_subscription(
-    impl_->node_, base_topic, callback,
-    getTransportOrDefault(transport_hints), custom_qos);
+  if (impl_->node_) {
+    return create_camera_subscription(
+      impl_->node_, base_topic, callback,
+      getTransportOrDefault(transport_hints), custom_qos);
+  } else {
+    return create_camera_subscription(
+      impl_->lifecycle_node_, base_topic, callback,
+      getTransportOrDefault(transport_hints), custom_qos);
+  }
 }
 
 std::vector<std::string> ImageTransport::getDeclaredTransports() const
@@ -228,8 +306,13 @@ std::string ImageTransport::getTransportOrDefault(const TransportHints * transpo
 {
   std::string ret;
   if (nullptr == transport_hints) {
-    TransportHints th(impl_->node_.get());
-    ret = th.getTransport();
+    if (impl_->node_) {
+      TransportHints th(impl_->node_);
+      ret = th.getTransport();
+    } else {
+      TransportHints th(impl_->lifecycle_node_);
+      ret = th.getTransport();
+    }
   } else {
     ret = transport_hints->getTransport();
   }

From ba5e59923548431533c2e1bef034a0700e5b3f4d Mon Sep 17 00:00:00 2001
From: Benjamin-Tan <tan.benjaminkx@gmail.com>
Date: Sat, 6 Apr 2024 22:45:00 +0800
Subject: [PATCH 04/14] Fix initialising and unit test

---
 image_transport/CMakeLists.txt                              | 2 +-
 .../include/image_transport/camera_publisher.hpp            | 2 +-
 .../include/image_transport/camera_subscriber.hpp           | 2 +-
 image_transport/include/image_transport/publisher.hpp       | 2 +-
 .../include/image_transport/publisher_plugin.hpp            | 4 ++--
 .../include/image_transport/simple_publisher_plugin.hpp     | 1 -
 image_transport/include/image_transport/subscriber.hpp      | 2 +-
 .../include/image_transport/subscriber_plugin.hpp           | 4 ++--
 image_transport/package.xml                                 | 1 +
 image_transport/src/camera_publisher.cpp                    | 6 +++---
 image_transport/src/camera_subscriber.cpp                   | 6 +++---
 image_transport/src/publisher.cpp                           | 6 +++---
 image_transport/src/subscriber.cpp                          | 6 +++---
 13 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/image_transport/CMakeLists.txt b/image_transport/CMakeLists.txt
index 55c1a4b0..158815cc 100644
--- a/image_transport/CMakeLists.txt
+++ b/image_transport/CMakeLists.txt
@@ -109,7 +109,7 @@ install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 ament_export_targets(export_${PROJECT_NAME})
 
-ament_export_dependencies(message_filters rclcpp sensor_msgs pluginlib)
+ament_export_dependencies(message_filters rclcpp rclcpp_lifecycle sensor_msgs pluginlib)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/image_transport/include/image_transport/camera_publisher.hpp b/image_transport/include/image_transport/camera_publisher.hpp
index 2feb6166..497a9d0c 100644
--- a/image_transport/include/image_transport/camera_publisher.hpp
+++ b/image_transport/include/image_transport/camera_publisher.hpp
@@ -150,7 +150,7 @@ class CameraPublisher
   bool operator==(const CameraPublisher & rhs) const {return impl_ == rhs.impl_;}
 
 private:
-  CameraPublisher(
+  void initialise(
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options);
diff --git a/image_transport/include/image_transport/camera_subscriber.hpp b/image_transport/include/image_transport/camera_subscriber.hpp
index 41068574..75ca133d 100644
--- a/image_transport/include/image_transport/camera_subscriber.hpp
+++ b/image_transport/include/image_transport/camera_subscriber.hpp
@@ -129,7 +129,7 @@ class CameraSubscriber
   bool operator==(const CameraSubscriber & rhs) const {return impl_ == rhs.impl_;}
 
 private:
-  CameraSubscriber(
+  void initialise(
     const std::string & base_topic,
     const Callback & callback,
     const std::string & transport,
diff --git a/image_transport/include/image_transport/publisher.hpp b/image_transport/include/image_transport/publisher.hpp
index c7b89343..d1967389 100644
--- a/image_transport/include/image_transport/publisher.hpp
+++ b/image_transport/include/image_transport/publisher.hpp
@@ -130,7 +130,7 @@ class Publisher
   bool operator==(const Publisher & rhs) const {return impl_ == rhs.impl_;}
 
 private:
-  Publisher(
+  void initialise(
     const std::string & base_topic,
     PubLoaderPtr loader,
     rmw_qos_profile_t custom_qos,
diff --git a/image_transport/include/image_transport/publisher_plugin.hpp b/image_transport/include/image_transport/publisher_plugin.hpp
index 8820f754..46b7e134 100644
--- a/image_transport/include/image_transport/publisher_plugin.hpp
+++ b/image_transport/include/image_transport/publisher_plugin.hpp
@@ -99,7 +99,7 @@ class PublisherPlugin
     advertiseImpl(base_topic, custom_qos, options);
   }
 
-  bool get_node(rclcpp::Node::SharedPtr node) const {
+  bool get_node(rclcpp::Node::SharedPtr & node) const {
     if (impl_ && impl_->node_) {
       node = impl_->node_;
       return true;
@@ -107,7 +107,7 @@ class PublisherPlugin
     return false;
   }
 
-  bool get_node(rclcpp_lifecycle::LifecycleNode::SharedPtr node) const {
+  bool get_node(rclcpp_lifecycle::LifecycleNode::SharedPtr & node) const {
     if (impl_ && impl_->lifecycle_node_) {
       node = impl_->lifecycle_node_;
       return true;
diff --git a/image_transport/include/image_transport/simple_publisher_plugin.hpp b/image_transport/include/image_transport/simple_publisher_plugin.hpp
index 748d6ebe..a5d79823 100644
--- a/image_transport/include/image_transport/simple_publisher_plugin.hpp
+++ b/image_transport/include/image_transport/simple_publisher_plugin.hpp
@@ -105,7 +105,6 @@ class SimplePublisherPlugin : public PublisherPlugin
   {
     std::string transport_topic = getTopicToAdvertise(base_topic);
     auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
-
     simple_impl_ = std::make_unique<SimplePublisherPluginImpl>();
     if (get_node(simple_impl_->node_)) {
       simple_impl_->logger_ = simple_impl_->node_->get_logger();
diff --git a/image_transport/include/image_transport/subscriber.hpp b/image_transport/include/image_transport/subscriber.hpp
index 757e8e9f..1d6bad23 100644
--- a/image_transport/include/image_transport/subscriber.hpp
+++ b/image_transport/include/image_transport/subscriber.hpp
@@ -124,7 +124,7 @@ class Subscriber
   bool operator==(const Subscriber & rhs) const {return impl_ == rhs.impl_;}
 
 private:
-  Subscriber(
+  void initialise(
     const std::string & base_topic,
     const Callback & callback,
     const std::string & transport,
diff --git a/image_transport/include/image_transport/subscriber_plugin.hpp b/image_transport/include/image_transport/subscriber_plugin.hpp
index 02ae629c..feb4df21 100644
--- a/image_transport/include/image_transport/subscriber_plugin.hpp
+++ b/image_transport/include/image_transport/subscriber_plugin.hpp
@@ -184,7 +184,7 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
       std::bind(fp, obj, std::placeholders::_1), custom_qos);
   }
 
-  bool get_node(rclcpp::Node::SharedPtr node) const {
+  bool get_node(rclcpp::Node::SharedPtr & node) const {
     if (impl_ && impl_->node_) {
       node = impl_->node_;
       return true;
@@ -192,7 +192,7 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
     return false;
   }
 
-  bool get_node(rclcpp_lifecycle::LifecycleNode::SharedPtr node) const {
+  bool get_node(rclcpp_lifecycle::LifecycleNode::SharedPtr & node) const {
     if (impl_ && impl_->lifecycle_node_) {
       node = impl_->lifecycle_node_;
       return true;
diff --git a/image_transport/package.xml b/image_transport/package.xml
index cd74c03f..f24029ae 100644
--- a/image_transport/package.xml
+++ b/image_transport/package.xml
@@ -26,6 +26,7 @@
   <depend>message_filters</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
 
diff --git a/image_transport/src/camera_publisher.cpp b/image_transport/src/camera_publisher.cpp
index 12f50c3f..047aeb1a 100644
--- a/image_transport/src/camera_publisher.cpp
+++ b/image_transport/src/camera_publisher.cpp
@@ -91,7 +91,7 @@ CameraPublisher::CameraPublisher(
   rclcpp::PublisherOptions pub_options)
 : impl_(std::make_shared<Impl>(node))
 {
-  CameraPublisher(base_topic, custom_qos, pub_options);
+  initialise(base_topic, custom_qos, pub_options);
 }
 
 CameraPublisher::CameraPublisher(
@@ -101,10 +101,10 @@ CameraPublisher::CameraPublisher(
   rclcpp::PublisherOptions pub_options)
 : impl_(std::make_shared<Impl>(node))
 {
-  CameraPublisher(base_topic, custom_qos, pub_options);
+  initialise(base_topic, custom_qos, pub_options);
 }
 
-CameraPublisher::CameraPublisher(
+void CameraPublisher::initialise(
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions pub_options)
diff --git a/image_transport/src/camera_subscriber.cpp b/image_transport/src/camera_subscriber.cpp
index d7df6591..ddd4627a 100644
--- a/image_transport/src/camera_subscriber.cpp
+++ b/image_transport/src/camera_subscriber.cpp
@@ -137,7 +137,7 @@ CameraSubscriber::CameraSubscriber(
   rmw_qos_profile_t custom_qos)
 : impl_(std::make_shared<Impl>(node))
 {
-  CameraSubscriber(base_topic, callback, transport, custom_qos);
+  initialise(base_topic, callback, transport, custom_qos);
 }
 
 CameraSubscriber::CameraSubscriber(
@@ -148,10 +148,10 @@ CameraSubscriber::CameraSubscriber(
   rmw_qos_profile_t custom_qos)
 : impl_(std::make_shared<Impl>(node))
 {
-  CameraSubscriber(base_topic, callback, transport, custom_qos);
+  initialise(base_topic, callback, transport, custom_qos);
 }
 
-CameraSubscriber::CameraSubscriber(
+void CameraSubscriber::initialise(
   const std::string & base_topic,
   const Callback & callback,
   const std::string & transport,
diff --git a/image_transport/src/publisher.cpp b/image_transport/src/publisher.cpp
index 8bcae088..a7fed44a 100644
--- a/image_transport/src/publisher.cpp
+++ b/image_transport/src/publisher.cpp
@@ -112,7 +112,7 @@ Publisher::Publisher(
   rclcpp::PublisherOptions options)
 : impl_(std::make_shared<Impl>(node))
 {
-  Publisher(base_topic, loader, custom_qos, options);
+  initialise(base_topic, loader, custom_qos, options);
 }
 
 Publisher::Publisher(
@@ -121,10 +121,10 @@ Publisher::Publisher(
   rclcpp::PublisherOptions options)
 : impl_(std::make_shared<Impl>(node))
 {
-  Publisher(base_topic, loader, custom_qos, options);
+  initialise(base_topic, loader, custom_qos, options);
 }
 
-Publisher::Publisher(
+void Publisher::initialise(
   const std::string & base_topic,
   PubLoaderPtr loader, rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions options)
diff --git a/image_transport/src/subscriber.cpp b/image_transport/src/subscriber.cpp
index e07b0ee0..bd13a618 100644
--- a/image_transport/src/subscriber.cpp
+++ b/image_transport/src/subscriber.cpp
@@ -102,7 +102,7 @@ Subscriber::Subscriber(
   rclcpp::SubscriptionOptions options)
 : impl_(std::make_shared<Impl>(node, loader))
 {
-  Subscriber(base_topic, callback, transport, custom_qos, options);
+  initialise(base_topic, callback, transport, custom_qos, options);
 }
 
 Subscriber::Subscriber(
@@ -115,10 +115,10 @@ Subscriber::Subscriber(
   rclcpp::SubscriptionOptions options)
 : impl_(std::make_shared<Impl>(node, loader))
 {
-  Subscriber(base_topic, callback, transport, custom_qos, options);
+  initialise(base_topic, callback, transport, custom_qos, options);
 }
 
-Subscriber::Subscriber(
+void Subscriber::initialise(
   const std::string & base_topic,
   const Callback & callback,
   const std::string & transport,

From 8eae072e0084b5a0f2f49fcaf2e3543d76e41230 Mon Sep 17 00:00:00 2001
From: Benjamin-Tan <tan.benjaminkx@gmail.com>
Date: Sat, 6 Apr 2024 22:49:39 +0800
Subject: [PATCH 05/14] Fix formatting and linting error

---
 .../include/image_transport/publisher_plugin.hpp  |  7 +++++--
 .../image_transport/simple_publisher_plugin.hpp   |  8 +++++---
 .../include/image_transport/subscriber_plugin.hpp |  6 ++++--
 image_transport/src/camera_publisher.cpp          | 15 +++++++++------
 image_transport/src/camera_subscriber.cpp         |  3 +--
 image_transport/src/publisher.cpp                 |  5 ++---
 image_transport/src/subscriber.cpp                |  6 +++---
 7 files changed, 29 insertions(+), 21 deletions(-)

diff --git a/image_transport/include/image_transport/publisher_plugin.hpp b/image_transport/include/image_transport/publisher_plugin.hpp
index 46b7e134..57c78d68 100644
--- a/image_transport/include/image_transport/publisher_plugin.hpp
+++ b/image_transport/include/image_transport/publisher_plugin.hpp
@@ -31,6 +31,7 @@
 
 #include <string>
 #include <vector>
+#include <memory>
 
 #include "rclcpp/node.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
@@ -99,7 +100,8 @@ class PublisherPlugin
     advertiseImpl(base_topic, custom_qos, options);
   }
 
-  bool get_node(rclcpp::Node::SharedPtr & node) const {
+  bool get_node(rclcpp::Node::SharedPtr & node) const
+  {
     if (impl_ && impl_->node_) {
       node = impl_->node_;
       return true;
@@ -107,7 +109,8 @@ class PublisherPlugin
     return false;
   }
 
-  bool get_node(rclcpp_lifecycle::LifecycleNode::SharedPtr & node) const {
+  bool get_node(rclcpp_lifecycle::LifecycleNode::SharedPtr & node) const
+  {
     if (impl_ && impl_->lifecycle_node_) {
       node = impl_->lifecycle_node_;
       return true;
diff --git a/image_transport/include/image_transport/simple_publisher_plugin.hpp b/image_transport/include/image_transport/simple_publisher_plugin.hpp
index a5d79823..9dedbbad 100644
--- a/image_transport/include/image_transport/simple_publisher_plugin.hpp
+++ b/image_transport/include/image_transport/simple_publisher_plugin.hpp
@@ -108,10 +108,12 @@ class SimplePublisherPlugin : public PublisherPlugin
     simple_impl_ = std::make_unique<SimplePublisherPluginImpl>();
     if (get_node(simple_impl_->node_)) {
       simple_impl_->logger_ = simple_impl_->node_->get_logger();
-      simple_impl_->pub_ = simple_impl_->node_->template create_publisher<M>(transport_topic, qos, options);
+      simple_impl_->pub_ = simple_impl_->node_->template create_publisher<M>(
+        transport_topic, qos, options);
     } else if (get_node(simple_impl_->lifecycle_node_)) {
       simple_impl_->logger_ = simple_impl_->lifecycle_node_->get_logger();
-      simple_impl_->pub_ = simple_impl_->lifecycle_node_->template create_publisher<M>(transport_topic, qos, options);
+      simple_impl_->pub_ = simple_impl_->lifecycle_node_->template create_publisher<M>(
+        transport_topic, qos, options);
     } else {
       throw std::runtime_error("Not a standard node or lifecycle node!");
     }
@@ -147,7 +149,7 @@ class SimplePublisherPlugin : public PublisherPlugin
 private:
   struct SimplePublisherPluginImpl
   {
-    explicit SimplePublisherPluginImpl()
+    SimplePublisherPluginImpl()
     : logger_(rclcpp::get_logger("simple_publisher_plugin_impl"))
     {
     }
diff --git a/image_transport/include/image_transport/subscriber_plugin.hpp b/image_transport/include/image_transport/subscriber_plugin.hpp
index feb4df21..71b18fdd 100644
--- a/image_transport/include/image_transport/subscriber_plugin.hpp
+++ b/image_transport/include/image_transport/subscriber_plugin.hpp
@@ -184,7 +184,8 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
       std::bind(fp, obj, std::placeholders::_1), custom_qos);
   }
 
-  bool get_node(rclcpp::Node::SharedPtr & node) const {
+  bool get_node(rclcpp::Node::SharedPtr & node) const
+  {
     if (impl_ && impl_->node_) {
       node = impl_->node_;
       return true;
@@ -192,7 +193,8 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
     return false;
   }
 
-  bool get_node(rclcpp_lifecycle::LifecycleNode::SharedPtr & node) const {
+  bool get_node(rclcpp_lifecycle::LifecycleNode::SharedPtr & node) const
+  {
     if (impl_ && impl_->lifecycle_node_) {
       node = impl_->lifecycle_node_;
       return true;
diff --git a/image_transport/src/camera_publisher.cpp b/image_transport/src/camera_publisher.cpp
index 047aeb1a..8859fecb 100644
--- a/image_transport/src/camera_publisher.cpp
+++ b/image_transport/src/camera_publisher.cpp
@@ -109,8 +109,7 @@ void CameraPublisher::initialise(
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions pub_options)
 {
-  if (!impl_)
-  {
+  if (!impl_) {
     throw std::runtime_error("impl is not constructed!");
   }
   // Explicitly resolve name here so we compute the correct CameraInfo topic when the
@@ -129,11 +128,15 @@ void CameraPublisher::initialise(
 
   auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
   if (impl_->node_) {
-    impl_->image_pub_ = image_transport::create_publisher(impl_->node_, image_topic, custom_qos, pub_options);
-    impl_->info_pub_ = impl_->node_->create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
+    impl_->image_pub_ = image_transport::create_publisher(
+      impl_->node_, image_topic, custom_qos, pub_options);
+    impl_->info_pub_ =
+      impl_->node_->create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
   } else {
-    impl_->image_pub_ = image_transport::create_publisher(impl_->lifecycle_node_, image_topic, custom_qos, pub_options);
-    impl_->info_pub_ = impl_->lifecycle_node_->create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
+    impl_->image_pub_ = image_transport::create_publisher(
+      impl_->lifecycle_node_, image_topic, custom_qos, pub_options);
+    impl_->info_pub_ =
+      impl_->lifecycle_node_->create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
   }
 }
 
diff --git a/image_transport/src/camera_subscriber.cpp b/image_transport/src/camera_subscriber.cpp
index ddd4627a..c0cf3023 100644
--- a/image_transport/src/camera_subscriber.cpp
+++ b/image_transport/src/camera_subscriber.cpp
@@ -157,8 +157,7 @@ void CameraSubscriber::initialise(
   const std::string & transport,
   rmw_qos_profile_t custom_qos)
 {
-  if (!impl_)
-  {
+  if (!impl_) {
     throw std::runtime_error("impl is not constructed!");
   }
   // Must explicitly remap the image topic since we then do some string manipulation on it
diff --git a/image_transport/src/publisher.cpp b/image_transport/src/publisher.cpp
index a7fed44a..cd214a8e 100644
--- a/image_transport/src/publisher.cpp
+++ b/image_transport/src/publisher.cpp
@@ -129,8 +129,7 @@ void Publisher::initialise(
   PubLoaderPtr loader, rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions options)
 {
-  if (!impl_)
-  {
+  if (!impl_) {
     throw std::runtime_error("impl is not constructed!");
   }
   // Resolve the name explicitly because otherwise the compressed topics don't remap
@@ -172,7 +171,7 @@ void Publisher::initialise(
     RCLCPP_DEBUG_STREAM(
       impl_->logger_, param_base_name << ".enable_pub_plugins" << " was previously declared"
     );
-    if (impl_->node_) {  
+    if (impl_->node_) {
       allowlist_vec =
         impl_->node_->get_parameter(
         param_base_name +
diff --git a/image_transport/src/subscriber.cpp b/image_transport/src/subscriber.cpp
index bd13a618..06886890 100644
--- a/image_transport/src/subscriber.cpp
+++ b/image_transport/src/subscriber.cpp
@@ -125,8 +125,7 @@ void Subscriber::initialise(
   rmw_qos_profile_t custom_qos,
   rclcpp::SubscriptionOptions options)
 {
-  if (!impl_)
-  {
+  if (!impl_) {
     throw std::runtime_error("impl is not constructed!");
   }
   // Load the plugin for the chosen transport.
@@ -166,7 +165,8 @@ void Subscriber::initialise(
   if (impl_->node_) {
     impl_->subscriber_->subscribe(impl_->node_, base_topic, callback, custom_qos, options);
   } else {
-    impl_->subscriber_->subscribe(impl_->lifecycle_node_, base_topic, callback, custom_qos, options);
+    impl_->subscriber_->subscribe(
+      impl_->lifecycle_node_, base_topic, callback, custom_qos, options);
   }
 }
 

From a5706530301df987e092ee597f5d7f5d27826761 Mon Sep 17 00:00:00 2001
From: Benjamin-Tan <tan.benjaminkx@gmail.com>
Date: Sat, 6 Apr 2024 23:18:38 +0800
Subject: [PATCH 06/14] Add test for lifecycle node

---
 image_transport/CMakeLists.txt                |  30 +++
 image_transport/test/test_message_passing.cpp |   4 +-
 .../test/test_message_passing_lifecycle.cpp   | 183 +++++++++++++++
 .../test/test_publisher_lifecycle.cpp         |  99 ++++++++
 .../test/test_qos_override_lifecycle.cpp      | 163 +++++++++++++
 image_transport/test/test_remapping.cpp       |   2 +-
 .../test/test_remapping_lifecycle.cpp         | 130 +++++++++++
 ..._single_subscriber_publisher_lifecycle.cpp |  88 +++++++
 .../test/test_subscriber_lifecycle.cpp        | 219 ++++++++++++++++++
 image_transport/test/utils.hpp                |   2 +-
 10 files changed, 916 insertions(+), 4 deletions(-)
 create mode 100644 image_transport/test/test_message_passing_lifecycle.cpp
 create mode 100644 image_transport/test/test_publisher_lifecycle.cpp
 create mode 100644 image_transport/test/test_qos_override_lifecycle.cpp
 create mode 100644 image_transport/test/test_remapping_lifecycle.cpp
 create mode 100644 image_transport/test/test_single_subscriber_publisher_lifecycle.cpp
 create mode 100644 image_transport/test/test_subscriber_lifecycle.cpp

diff --git a/image_transport/CMakeLists.txt b/image_transport/CMakeLists.txt
index 158815cc..12054820 100644
--- a/image_transport/CMakeLists.txt
+++ b/image_transport/CMakeLists.txt
@@ -133,30 +133,60 @@ if(BUILD_TESTING)
     target_link_libraries(${PROJECT_NAME}-publisher ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(${PROJECT_NAME}-publisher_lifecycle test/test_publisher_lifecycle.cpp)
+  if(TARGET ${PROJECT_NAME}-publisher_lifecycle)
+    target_link_libraries(${PROJECT_NAME}-publisher_lifecycle ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(${PROJECT_NAME}-subscriber test/test_subscriber.cpp)
   if(TARGET ${PROJECT_NAME}-subscriber)
     target_link_libraries(${PROJECT_NAME}-subscriber ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(${PROJECT_NAME}-subscriber_lifecycle test/test_subscriber_lifecycle.cpp)
+  if(TARGET ${PROJECT_NAME}-subscriber_lifecycle)
+    target_link_libraries(${PROJECT_NAME}-subscriber_lifecycle ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(${PROJECT_NAME}-message_passing test/test_message_passing.cpp)
   if(TARGET ${PROJECT_NAME}-message_passing)
     target_link_libraries(${PROJECT_NAME}-message_passing ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(${PROJECT_NAME}-message_passing_lifecycle test/test_message_passing_lifecycle.cpp)
+  if(TARGET ${PROJECT_NAME}-message_passing_lifecycle)
+    target_link_libraries(${PROJECT_NAME}-message_passing_lifecycle ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(${PROJECT_NAME}-remapping test/test_remapping.cpp)
   if(TARGET ${PROJECT_NAME}-remapping)
     target_link_libraries(${PROJECT_NAME}-remapping ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(${PROJECT_NAME}-remapping_lifecycle test/test_remapping_lifecycle.cpp)
+  if(TARGET ${PROJECT_NAME}-remapping_lifecycle)
+    target_link_libraries(${PROJECT_NAME}-remapping_lifecycle ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(${PROJECT_NAME}-qos_override test/test_qos_override.cpp)
   if(TARGET ${PROJECT_NAME}-qos_override)
     target_link_libraries(${PROJECT_NAME}-qos_override ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(${PROJECT_NAME}-qos_override_lifecycle test/test_qos_override_lifecycle.cpp)
+  if(TARGET ${PROJECT_NAME}-qos_override_lifecycle)
+    target_link_libraries(${PROJECT_NAME}-qos_override_lifecycle ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(${PROJECT_NAME}-single_subscriber_publisher test/test_single_subscriber_publisher.cpp)
   if(TARGET ${PROJECT_NAME}-single_subscriber_publisher)
     target_link_libraries(${PROJECT_NAME}-single_subscriber_publisher ${PROJECT_NAME})
   endif()
+
+  ament_add_gtest(${PROJECT_NAME}-single_subscriber_publisher_lifecycle test/test_single_subscriber_publisher_lifecycle.cpp)
+  if(TARGET ${PROJECT_NAME}-single_subscriber_publisher_lifecycle)
+    target_link_libraries(${PROJECT_NAME}-single_subscriber_publisher_lifecycle ${PROJECT_NAME})
+  endif()
 endif()
 
 ament_package()
diff --git a/image_transport/test/test_message_passing.cpp b/image_transport/test/test_message_passing.cpp
index 87dbd4b3..e5a0c8de 100644
--- a/image_transport/test/test_message_passing.cpp
+++ b/image_transport/test/test_message_passing.cpp
@@ -81,7 +81,7 @@ TEST_F(MessagePassingTesting, one_message_passing)
   auto sub =
     image_transport::create_subscription(node_, "camera/image", imageCallback, "raw");
 
-  test_rclcpp::wait_for_subscriber(node_, sub.getTopic());
+  test_rclcpp::wait_for_subscriber(node_->get_node_graph_interface(), sub.getTopic());
 
   ASSERT_EQ(0, total_images_received);
   ASSERT_EQ(1u, pub.getNumSubscribers());
@@ -126,7 +126,7 @@ TEST_F(MessagePassingTesting, one_camera_message_passing)
     "raw"
   );
 
-  test_rclcpp::wait_for_subscriber(node_, sub.getTopic());
+  test_rclcpp::wait_for_subscriber(node_->get_node_graph_interface(), sub.getTopic());
 
   ASSERT_EQ(0, total_images_received);
   executor.spin_node_some(node_);
diff --git a/image_transport/test/test_message_passing_lifecycle.cpp b/image_transport/test/test_message_passing_lifecycle.cpp
new file mode 100644
index 00000000..a1f4a888
--- /dev/null
+++ b/image_transport/test/test_message_passing_lifecycle.cpp
@@ -0,0 +1,183 @@
+// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include <chrono>
+#include <memory>
+
+#include "gtest/gtest.h"
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+#include "image_transport/image_transport.hpp"
+#include "sensor_msgs/msg/image.hpp"
+
+#include "utils.hpp"
+
+using namespace std::chrono_literals;
+
+int total_images_received = 0;
+
+class MessagePassingTestingLifecycle : public ::testing::Test
+{
+public:
+  sensor_msgs::msg::Image::UniquePtr generate_random_image()
+  {
+    auto image = std::make_unique<sensor_msgs::msg::Image>();
+    return image;
+  }
+
+protected:
+  void SetUp()
+  {
+    node_ = rclcpp_lifecycle::LifecycleNode::make_shared("test_message_passing_lifecycle");
+    total_images_received = 0;
+  }
+
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node_;
+};
+
+
+void imageCallback(const sensor_msgs::msg::Image::ConstSharedPtr & msg)
+{
+  (void) msg;
+  total_images_received++;
+}
+
+TEST_F(MessagePassingTestingLifecycle, one_message_passing)
+{
+  const size_t max_retries = 3;
+  const size_t max_loops = 200;
+  const std::chrono::milliseconds sleep_per_loop = std::chrono::milliseconds(10);
+
+  rclcpp::executors::SingleThreadedExecutor executor;
+
+  auto pub = image_transport::create_publisher(node_, "camera/image");
+  auto sub =
+    image_transport::create_subscription(node_, "camera/image", imageCallback, "raw");
+
+  test_rclcpp::wait_for_subscriber(node_->get_node_graph_interface(), sub.getTopic());
+
+  ASSERT_EQ(0, total_images_received);
+  ASSERT_EQ(1u, pub.getNumSubscribers());
+  ASSERT_EQ(1u, sub.getNumPublishers());
+
+  executor.spin_node_some(node_->get_node_base_interface());
+  ASSERT_EQ(0, total_images_received);
+
+  size_t retry = 0;
+  while (retry < max_retries && total_images_received == 0) {
+    // generate random image and publish it
+    pub.publish(generate_random_image());
+
+    executor.spin_node_some(node_->get_node_base_interface());
+    size_t loop = 0;
+    while ((total_images_received != 1) && (loop++ < max_loops)) {
+      std::this_thread::sleep_for(sleep_per_loop);
+      executor.spin_node_some(node_->get_node_base_interface());
+    }
+  }
+
+  ASSERT_EQ(1, total_images_received);
+}
+
+TEST_F(MessagePassingTestingLifecycle, one_camera_message_passing)
+{
+  const size_t max_retries = 3;
+  const size_t max_loops = 200;
+  const std::chrono::milliseconds sleep_per_loop = std::chrono::milliseconds(10);
+
+  rclcpp::executors::SingleThreadedExecutor executor;
+
+  auto pub = image_transport::create_camera_publisher(node_, "camera/image");
+  auto sub = image_transport::create_camera_subscription(
+    node_, "camera/image",
+    [](const sensor_msgs::msg::Image::ConstSharedPtr & image,
+    const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info) {
+      (void) image;
+      (void) info;
+      total_images_received++;
+    },
+    "raw"
+  );
+
+  test_rclcpp::wait_for_subscriber(node_->get_node_graph_interface(), sub.getTopic());
+
+  ASSERT_EQ(0, total_images_received);
+  executor.spin_node_some(node_->get_node_base_interface());
+  ASSERT_EQ(0, total_images_received);
+
+  size_t retry = 0;
+  while (retry < max_retries && total_images_received == 0) {
+    // generate random image and publish it
+    pub.publish(*generate_random_image().get(), sensor_msgs::msg::CameraInfo());
+
+    executor.spin_node_some(node_->get_node_base_interface());
+    size_t loop = 0;
+    while ((total_images_received != 1) && (loop++ < max_loops)) {
+      std::this_thread::sleep_for(sleep_per_loop);
+      executor.spin_node_some(node_->get_node_base_interface());
+    }
+  }
+
+  ASSERT_EQ(1, total_images_received);
+}
+
+/*
+TEST_F(MessagePassingTestingLifecycle, stress_message_passing)
+{
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node_);
+
+  int images_to_stress = 1000;
+
+  image_transport::Publisher pub = it().advertise("camera/image");
+  image_transport::Subscriber sub = it().subscribe("camera/image", imageCallback);
+
+  std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+  // generate random image and publish it
+  int image_pubs = 0;
+  while (image_pubs < images_to_stress) {
+    pub.publish(generate_random_image());
+    executor.spin_some();
+    image_pubs++;
+  }
+
+  ASSERT_EQ(images_to_stress, total_images_received);
+}
+*/
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return ret;
+}
diff --git a/image_transport/test/test_publisher_lifecycle.cpp b/image_transport/test/test_publisher_lifecycle.cpp
new file mode 100644
index 00000000..ab33fe6a
--- /dev/null
+++ b/image_transport/test/test_publisher_lifecycle.cpp
@@ -0,0 +1,99 @@
+// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+#include "image_transport/image_transport.hpp"
+
+class TestPublisherLifecycle : public ::testing::Test
+{
+protected:
+  void SetUp()
+  {
+    node_ = rclcpp_lifecycle::LifecycleNode::make_shared("test_publisher_lifecycle");
+  }
+
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node_;
+};
+
+TEST_F(TestPublisherLifecycle, publisher) {
+  auto pub = image_transport::create_publisher(node_, "camera/image");
+  EXPECT_EQ(node_->get_node_graph_interface()->count_publishers("camera/image"), 1u);
+  pub.shutdown();
+  EXPECT_EQ(node_->get_node_graph_interface()->count_publishers("camera/image"), 0u);
+  // coverage tests: invalid publisher should fail but not crash
+  pub.publish(sensor_msgs::msg::Image());
+  pub.publish(sensor_msgs::msg::Image::ConstSharedPtr());
+}
+
+TEST_F(TestPublisherLifecycle, image_transport_publisher) {
+  image_transport::ImageTransport it(node_);
+  auto pub = it.advertise("camera/image", 1);
+}
+
+TEST_F(TestPublisherLifecycle, camera_publisher) {
+  auto camera_pub = image_transport::create_camera_publisher(node_, "camera/image");
+  EXPECT_EQ(node_->get_node_graph_interface()->count_publishers("camera/image"), 1u);
+  EXPECT_EQ(node_->get_node_graph_interface()->count_publishers("camera/camera_info"), 1u);
+  camera_pub.shutdown();
+  EXPECT_EQ(node_->get_node_graph_interface()->count_publishers("camera/image"), 0u);
+  EXPECT_EQ(node_->get_node_graph_interface()->count_publishers("camera/camera_info"), 0u);
+  // coverage tests: invalid publisher should fail but not crash
+  camera_pub.publish(sensor_msgs::msg::Image(), sensor_msgs::msg::CameraInfo());
+  camera_pub.publish(
+    sensor_msgs::msg::Image::ConstSharedPtr(),
+    sensor_msgs::msg::CameraInfo::ConstSharedPtr());
+  sensor_msgs::msg::Image image;
+  sensor_msgs::msg::CameraInfo info;
+  camera_pub.publish(image, info, rclcpp::Time());
+}
+
+TEST_F(TestPublisherLifecycle, image_transport_camera_publisher) {
+  image_transport::ImageTransport it(node_);
+  auto pub = it.advertiseCamera("camera/image", 1);
+}
+
+TEST_F(TestPublisherLifecycle, image_transport_camera_publisher_qos) {
+  image_transport::ImageTransport it(node_);
+  auto pub = it.advertise("camera/image", rmw_qos_profile_sensor_data);
+}
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return ret;
+}
diff --git a/image_transport/test/test_qos_override_lifecycle.cpp b/image_transport/test/test_qos_override_lifecycle.cpp
new file mode 100644
index 00000000..9ed2c0c1
--- /dev/null
+++ b/image_transport/test/test_qos_override_lifecycle.cpp
@@ -0,0 +1,163 @@
+// Copyright (c) 2022 Open Source Robotics Foundation, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+#include "image_transport/image_transport.hpp"
+
+class TestQosOverrideLifecycle : public ::testing::Test
+{
+protected:
+  void SetUp()
+  {
+    pub_node_ = rclcpp_lifecycle::LifecycleNode::make_shared("test_publisher_lifecycle");
+    qos_override_pub_node_ = rclcpp_lifecycle::LifecycleNode::make_shared(
+      "test_qos_override_publisher_lifecycle", rclcpp::NodeOptions().parameter_overrides(
+    {
+      rclcpp::Parameter(
+        "qos_overrides./camera/image.publisher.reliability", "best_effort"),
+    }));
+    sub_node_ = rclcpp_lifecycle::LifecycleNode::make_shared("test_subscriber_lifecycle");
+    qos_override_sub_node_ = rclcpp_lifecycle::LifecycleNode::make_shared(
+      "test_qos_override_subscriber_lifecycle", rclcpp::NodeOptions().parameter_overrides(
+    {
+      rclcpp::Parameter(
+        "qos_overrides./camera/image.subscription.reliability", "best_effort"),
+    }));
+  }
+
+  rclcpp_lifecycle::LifecycleNode::SharedPtr pub_node_;
+  rclcpp_lifecycle::LifecycleNode::SharedPtr qos_override_pub_node_;
+  rclcpp_lifecycle::LifecycleNode::SharedPtr sub_node_;
+  rclcpp_lifecycle::LifecycleNode::SharedPtr qos_override_sub_node_;
+};
+
+TEST_F(TestQosOverrideLifecycle, qos_override_publisher_without_options) {
+  auto pub =
+    image_transport::create_publisher(pub_node_, "camera/image", rmw_qos_profile_default);
+  auto endpoint_info_vec = pub_node_->get_publishers_info_by_topic("camera/image");
+  EXPECT_EQ(endpoint_info_vec[0].qos_profile().reliability(), rclcpp::ReliabilityPolicy::Reliable);
+  pub.shutdown();
+
+  pub = image_transport::create_publisher(
+    qos_override_pub_node_, "camera/image", rmw_qos_profile_default);
+
+  endpoint_info_vec = qos_override_pub_node_->get_publishers_info_by_topic("camera/image");
+  EXPECT_EQ(
+    endpoint_info_vec[0].qos_profile().reliability(),
+    rclcpp::ReliabilityPolicy::Reliable);
+  pub.shutdown();
+}
+
+TEST_F(TestQosOverrideLifecycle, qos_override_publisher_with_options) {
+  rclcpp::PublisherOptions options;
+  options.qos_overriding_options = rclcpp::QosOverridingOptions(
+  {
+    rclcpp::QosPolicyKind::Depth,
+    rclcpp::QosPolicyKind::Durability,
+    rclcpp::QosPolicyKind::History,
+    rclcpp::QosPolicyKind::Reliability,
+  });
+
+  auto pub = image_transport::create_publisher(
+    pub_node_, "camera/image", rmw_qos_profile_default, options);
+  auto endpoint_info_vec = pub_node_->get_publishers_info_by_topic("camera/image");
+  EXPECT_EQ(endpoint_info_vec[0].qos_profile().reliability(), rclcpp::ReliabilityPolicy::Reliable);
+  pub.shutdown();
+
+  pub = image_transport::create_publisher(
+    qos_override_pub_node_, "camera/image", rmw_qos_profile_default, options);
+
+  endpoint_info_vec = qos_override_pub_node_->get_publishers_info_by_topic("camera/image");
+  EXPECT_EQ(
+    endpoint_info_vec[0].qos_profile().reliability(),
+    rclcpp::ReliabilityPolicy::BestEffort);
+  pub.shutdown();
+}
+
+TEST_F(TestQosOverrideLifecycle, qos_override_subscriber_without_options) {
+  std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr & msg)> fcn =
+    [](const auto & msg) {(void)msg;};
+
+  auto sub = image_transport::create_subscription(
+    sub_node_, "camera/image", fcn, "raw", rmw_qos_profile_default);
+  auto endpoint_info_vec = sub_node_->get_subscriptions_info_by_topic("camera/image");
+  EXPECT_EQ(endpoint_info_vec[0].qos_profile().reliability(), rclcpp::ReliabilityPolicy::Reliable);
+  sub.shutdown();
+
+  sub = image_transport::create_subscription(
+    qos_override_sub_node_, "camera/image", fcn, "raw", rmw_qos_profile_default);
+
+  endpoint_info_vec = qos_override_sub_node_->get_subscriptions_info_by_topic("camera/image");
+  EXPECT_EQ(
+    endpoint_info_vec[0].qos_profile().reliability(),
+    rclcpp::ReliabilityPolicy::Reliable);
+}
+
+TEST_F(TestQosOverrideLifecycle, qos_override_subscriber_with_options) {
+  std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr & msg)> fcn =
+    [](const auto & msg) {(void)msg;};
+
+  rclcpp::SubscriptionOptions options;
+  options.qos_overriding_options = rclcpp::QosOverridingOptions(
+  {
+    rclcpp::QosPolicyKind::Depth,
+    rclcpp::QosPolicyKind::Durability,
+    rclcpp::QosPolicyKind::History,
+    rclcpp::QosPolicyKind::Reliability,
+  });
+
+  auto sub = image_transport::create_subscription(
+    sub_node_, "camera/image", fcn, "raw", rmw_qos_profile_default, options);
+  auto endpoint_info_vec = sub_node_->get_subscriptions_info_by_topic("camera/image");
+  EXPECT_EQ(endpoint_info_vec[0].qos_profile().reliability(), rclcpp::ReliabilityPolicy::Reliable);
+  sub.shutdown();
+
+  sub = image_transport::create_subscription(
+    qos_override_sub_node_, "camera/image", fcn, "raw", rmw_qos_profile_default, options);
+
+  endpoint_info_vec = qos_override_sub_node_->get_subscriptions_info_by_topic("camera/image");
+  EXPECT_EQ(
+    endpoint_info_vec[0].qos_profile().reliability(),
+    rclcpp::ReliabilityPolicy::BestEffort);
+}
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return ret;
+}
diff --git a/image_transport/test/test_remapping.cpp b/image_transport/test/test_remapping.cpp
index 7194e1ae..1345af56 100644
--- a/image_transport/test/test_remapping.cpp
+++ b/image_transport/test/test_remapping.cpp
@@ -85,7 +85,7 @@ TEST_F(TestPublisher, RemappedPublisher) {
   ASSERT_EQ("/namespace/new_topic", sub.getTopic());
   ASSERT_EQ("/namespace/new_topic", pub.getTopic());
 
-  test_rclcpp::wait_for_subscriber(node_, sub.getTopic());
+  test_rclcpp::wait_for_subscriber(node_->get_node_graph_interface(), sub.getTopic());
 
   ASSERT_FALSE(received);
 
diff --git a/image_transport/test/test_remapping_lifecycle.cpp b/image_transport/test/test_remapping_lifecycle.cpp
new file mode 100644
index 00000000..26829b2a
--- /dev/null
+++ b/image_transport/test/test_remapping_lifecycle.cpp
@@ -0,0 +1,130 @@
+// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include <gtest/gtest.h>
+
+#include <chrono>
+#include <string>
+#include <memory>
+#include <vector>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "utils.hpp"
+
+#include "image_transport/image_transport.hpp"
+
+class TestPublisherLifecycle : public ::testing::Test
+{
+protected:
+  void SetUp()
+  {
+    node_ = rclcpp_lifecycle::LifecycleNode::make_shared("node", "namespace");
+    std::vector<std::string> arguments{
+      "--ros-args", "-r", "old_topic:=new_topic"
+    };
+    rclcpp::NodeOptions node_options;
+    node_options.arguments(arguments);
+
+    node_remap_ = rclcpp_lifecycle::LifecycleNode::make_shared(
+      "node_remap",
+      "namespace",
+      node_options
+    );
+  }
+
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node_;
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node_remap_;
+};
+
+TEST_F(TestPublisherLifecycle, RemappedPublisher) {
+  const size_t max_retries = 3;
+  const size_t max_loops = 200;
+  const std::chrono::milliseconds sleep_per_loop = std::chrono::milliseconds(10);
+
+  rclcpp::executors::SingleThreadedExecutor executor;
+  auto image = std::make_shared<sensor_msgs::msg::Image>();
+
+  // Subscribe
+  bool received{false};
+  auto sub = image_transport::create_subscription(
+    node_remap_, "old_topic",
+    [&received](const sensor_msgs::msg::Image::ConstSharedPtr & msg) {
+      (void)msg;
+      received = true;
+    }, "raw");
+
+  // Publish
+  auto pub = image_transport::create_publisher(node_, "new_topic");
+
+  ASSERT_EQ("/namespace/new_topic", sub.getTopic());
+  ASSERT_EQ("/namespace/new_topic", pub.getTopic());
+
+  test_rclcpp::wait_for_subscriber(node_->get_node_graph_interface(), sub.getTopic());
+
+  ASSERT_FALSE(received);
+
+  size_t retry = 0;
+  size_t nSub = 0;
+  size_t nPub = 0;
+  while (retry < max_retries && nPub == 0 && nSub == 0) {
+    nSub = pub.getNumSubscribers();
+    nPub = sub.getNumPublishers();
+    std::this_thread::sleep_for(sleep_per_loop);
+  }
+
+  executor.spin_node_some(node_->get_node_base_interface());
+  executor.spin_node_some(node_remap_->get_node_base_interface());
+
+  retry = 0;
+  while (retry < max_retries && !received) {
+    // generate random image and publish it
+    pub.publish(image);
+
+    executor.spin_node_some(node_->get_node_base_interface());
+    executor.spin_node_some(node_remap_->get_node_base_interface());
+
+    size_t loop = 0;
+    while ((!received) && (loop++ < max_loops)) {
+      std::this_thread::sleep_for(sleep_per_loop);
+      executor.spin_node_some(node_->get_node_base_interface());
+      executor.spin_node_some(node_remap_->get_node_base_interface());
+    }
+  }
+
+  EXPECT_TRUE(received);
+}
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return ret;
+}
diff --git a/image_transport/test/test_single_subscriber_publisher_lifecycle.cpp b/image_transport/test/test_single_subscriber_publisher_lifecycle.cpp
new file mode 100644
index 00000000..5afaefda
--- /dev/null
+++ b/image_transport/test/test_single_subscriber_publisher_lifecycle.cpp
@@ -0,0 +1,88 @@
+// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include <functional>
+#include <string>
+#include <memory>
+
+#include "gtest/gtest.h"
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "sensor_msgs/msg/image.hpp"
+
+#include "image_transport/single_subscriber_publisher.hpp"
+
+class TestPublisherLifecycle : public ::testing::Test
+{
+protected:
+  static constexpr const char * caller_id = "node";
+  static constexpr const char * topic = "/topic";
+
+
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void SetUp()
+  {
+    node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("image_transport", "/ns");
+  }
+
+  void TearDown()
+  {
+    node.reset();
+  }
+
+
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node;
+};
+
+TEST_F(TestPublisherLifecycle, construction_and_destruction) {
+  auto get_num_subscribers = []() -> size_t {return 0;};
+  auto publish_fn = [](const sensor_msgs::msg::Image & /*image*/) {};
+
+  image_transport::SingleSubscriberPublisher ssp(caller_id, topic,
+    get_num_subscribers, publish_fn);
+}
+
+TEST_F(TestPublisherLifecycle, getNumSubscribers) {
+  size_t nSub = 0;
+
+  auto get_num_subscribers = [&nSub]() -> size_t {return nSub;};
+  auto publish_fn = [](const sensor_msgs::msg::Image & /*image*/) {};
+
+  image_transport::SingleSubscriberPublisher ssp(caller_id, topic,
+    get_num_subscribers, publish_fn);
+
+  nSub = 0;
+  ASSERT_EQ(ssp.getNumSubscribers(), 0u);
+  nSub = 1;
+  ASSERT_EQ(ssp.getNumSubscribers(), 1u);
+}
diff --git a/image_transport/test/test_subscriber_lifecycle.cpp b/image_transport/test/test_subscriber_lifecycle.cpp
new file mode 100644
index 00000000..5312bbf4
--- /dev/null
+++ b/image_transport/test/test_subscriber_lifecycle.cpp
@@ -0,0 +1,219 @@
+// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+
+#include "image_transport/image_transport.hpp"
+
+class TestSubscriberLifecycle : public ::testing::Test
+{
+protected:
+  void SetUp()
+  {
+    node_ = rclcpp_lifecycle::LifecycleNode::make_shared("test_subscriber_lifecycle");
+  }
+
+  rclcpp_lifecycle::LifecycleNode::SharedPtr node_;
+};
+
+TEST_F(TestSubscriberLifecycle, construction_and_destruction) {
+  std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr & msg)> fcn =
+    [](const auto & msg) {(void)msg;};
+
+  auto sub = image_transport::create_subscription(node_, "camera/image", fcn, "raw");
+
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.spin_node_some(node_->get_node_base_interface());
+}
+
+TEST_F(TestSubscriberLifecycle, shutdown) {
+  std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr & msg)> fcn =
+    [](const auto & msg) {(void)msg;};
+
+  auto sub = image_transport::create_subscription(node_, "camera/image", fcn, "raw");
+  EXPECT_EQ(node_->get_node_graph_interface()->count_subscribers("camera/image"), 1u);
+  sub.shutdown();
+  EXPECT_EQ(node_->get_node_graph_interface()->count_subscribers("camera/image"), 0u);
+}
+
+TEST_F(TestSubscriberLifecycle, camera_sub_shutdown) {
+  std::function<void(
+      const sensor_msgs::msg::Image::ConstSharedPtr &,
+      const sensor_msgs::msg::CameraInfo::ConstSharedPtr &)> fcn =
+    [](const auto & msg, const auto &) {(void)msg;};
+
+  auto sub = image_transport::create_camera_subscription(node_, "camera/image", fcn, "raw");
+  EXPECT_EQ(node_->get_node_graph_interface()->count_subscribers("camera/image"), 1u);
+  EXPECT_EQ(node_->get_node_graph_interface()->count_subscribers("camera/camera_info"), 1u);
+  sub.shutdown();
+  EXPECT_EQ(node_->get_node_graph_interface()->count_subscribers("camera/image"), 0u);
+  EXPECT_EQ(node_->get_node_graph_interface()->count_subscribers("camera/camera_info"), 0u);
+}
+
+TEST_F(TestSubscriberLifecycle, callback_groups) {
+  using namespace std::chrono_literals;
+
+  // Create a publisher node.
+  auto node_publisher = rclcpp_lifecycle::LifecycleNode::make_shared(
+    "image_publisher",
+    rclcpp::NodeOptions());
+  image_transport::ImageTransport it_publisher(node_publisher);
+  image_transport::Publisher pub = it_publisher.advertise("camera/image", 1);
+
+  auto msg = sensor_msgs::msg::Image();
+  auto timer = node_publisher->create_wall_timer(100ms, [&]() {pub.publish(msg);});
+
+  // Create a subscriber to read the images.
+  std::atomic<bool> flag_1 = false;
+  std::atomic<bool> flag_2 = false;
+  std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr & msg)> fcn1 =
+    [&](const auto & msg) {
+      (void)msg;
+      flag_1 = true;
+      std::this_thread::sleep_for(1s);
+    };
+  std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr & msg)> fcn2 =
+    [&](const auto & msg) {
+      (void)msg;
+      flag_2 = true;
+      std::this_thread::sleep_for(1s);
+    };
+
+  auto cb_group = node_->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
+  rclcpp::SubscriptionOptions sub_options;
+  sub_options.callback_group = cb_group;
+
+  image_transport::ImageTransport it(node_);
+
+  auto subscriber_1 = it.subscribe("camera/image", 1, fcn1, nullptr, nullptr, sub_options);
+  auto subscriber_2 = it.subscribe("camera/image", 1, fcn2, nullptr, nullptr, sub_options);
+
+  rclcpp::executors::MultiThreadedExecutor executor;
+  executor.add_node(node_->get_node_base_interface());
+  executor.add_node(node_publisher->get_node_base_interface());
+  // Both callbacks should be executed and the flags should be set.
+  std::thread executor_thread([&]() {executor.spin();});
+
+  // The callbacks sleep for 5 seconds and mutually exclusive callbacks should be blocked.
+  // However, because of the the multithreaded executor and renentrant callback group,
+  // the flags should be set, as the callbacks should be in different threads.
+  auto timeout_elapsed = 0.0s;
+  auto sleep_duration = 0.1s;
+  auto timeout = 0.5s;
+
+  while (!(flag_1 && flag_2)) {
+    std::this_thread::sleep_for(sleep_duration);
+    timeout_elapsed += sleep_duration;
+  }
+  executor.cancel();
+  executor_thread.join();
+
+  EXPECT_LT(timeout_elapsed, timeout);
+}
+
+TEST_F(TestSubscriberLifecycle, callback_groups_custom_qos) {
+  using namespace std::chrono_literals;
+
+  // Create a publisher node.
+  auto node_publisher = rclcpp_lifecycle::LifecycleNode::make_shared(
+    "image_publisher",
+    rclcpp::NodeOptions());
+  image_transport::ImageTransport it_publisher(node_publisher);
+  image_transport::Publisher pub = it_publisher.advertise(
+    "camera/image",
+    rmw_qos_profile_sensor_data);
+
+  auto msg = sensor_msgs::msg::Image();
+  auto timer = node_publisher->create_wall_timer(100ms, [&]() {pub.publish(msg);});
+
+  // Create a subscriber to read the images.
+  std::atomic<bool> flag_1 = false;
+  std::atomic<bool> flag_2 = false;
+  std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr & msg)> fcn1 =
+    [&](const auto & msg) {
+      (void)msg;
+      flag_1 = true;
+      std::this_thread::sleep_for(1s);
+    };
+  std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr & msg)> fcn2 =
+    [&](const auto & msg) {
+      (void)msg;
+      flag_2 = true;
+      std::this_thread::sleep_for(1s);
+    };
+
+  auto cb_group = node_->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
+  rclcpp::SubscriptionOptions sub_options;
+  sub_options.callback_group = cb_group;
+
+  image_transport::ImageTransport it(node_);
+
+  auto subscriber_1 = it.subscribe(
+    "camera/image", rmw_qos_profile_sensor_data, fcn1, nullptr,
+    nullptr, sub_options);
+  auto subscriber_2 = it.subscribe(
+    "camera/image", rmw_qos_profile_sensor_data, fcn2, nullptr,
+    nullptr, sub_options);
+
+  rclcpp::executors::MultiThreadedExecutor executor;
+  executor.add_node(node_->get_node_base_interface());
+  executor.add_node(node_publisher->get_node_base_interface());
+  // Both callbacks should be executed and the flags should be set.
+  std::thread executor_thread([&]() {executor.spin();});
+
+  // The callbacks sleep for 5 seconds and mutually exclusive callbacks should be blocked.
+  // However, because of the the multithreaded executor and renentrant callback group,
+  // the flags should be set, as the callbacks should be in different threads.
+  auto timeout_elapsed = 0.0s;
+  auto sleep_duration = 0.1s;
+  auto timeout = 0.5s;
+
+  while (!(flag_1 && flag_2)) {
+    std::this_thread::sleep_for(sleep_duration);
+    timeout_elapsed += sleep_duration;
+  }
+  executor.cancel();
+  executor_thread.join();
+
+  EXPECT_LT(timeout_elapsed, timeout);
+}
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+  testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return ret;
+}
diff --git a/image_transport/test/utils.hpp b/image_transport/test/utils.hpp
index aee9d9cf..2148298f 100644
--- a/image_transport/test/utils.hpp
+++ b/image_transport/test/utils.hpp
@@ -32,7 +32,7 @@ namespace test_rclcpp
 // subscribers to be > 0, if false it will wait for the number of
 // subscribers to be 0
 void wait_for_subscriber(
-  std::shared_ptr<rclcpp::Node> node,
+  std::shared_ptr<rclcpp::node_interfaces::NodeGraphInterface> node,
   const std::string & topic_name,
   bool to_be_available = true,
   std::chrono::milliseconds timeout = std::chrono::milliseconds(1),

From 688e5de6fa06206c20122a711f4cdf8c62f445df Mon Sep 17 00:00:00 2001
From: Benjamin-Tan <tan.benjaminkx@gmail.com>
Date: Sun, 21 Apr 2024 22:01:00 +0800
Subject: [PATCH 07/14] Change the implementation to template class NodeType
 with backward compatibility, according to the PR review.

---
 image_transport/default_plugins.xml           |  26 +-
 .../image_transport/camera_publisher.hpp      |   8 +-
 .../image_transport/camera_subscriber.hpp     |   8 +-
 .../image_transport/image_transport.hpp       |  93 +++---
 .../include/image_transport/loader_fwds.hpp   |  14 +-
 .../include/image_transport/publisher.hpp     |  11 +-
 .../image_transport/publisher_plugin.hpp      |  44 +--
 .../include/image_transport/raw_publisher.hpp |   5 +-
 .../image_transport/raw_subscriber.hpp        |   5 +-
 .../include/image_transport/republish.hpp     |   8 +-
 .../simple_publisher_plugin.hpp               |  35 +--
 .../simple_subscriber_plugin.hpp              |  35 +--
 .../single_subscriber_publisher.hpp           |   2 -
 .../include/image_transport/subscriber.hpp    |   9 +-
 .../image_transport/subscriber_filter.hpp     |  13 +-
 .../image_transport/subscriber_plugin.hpp     |  66 +----
 .../image_transport/transport_hints.hpp       |   9 +
 image_transport/src/camera_publisher.cpp      |  81 ++---
 image_transport/src/camera_subscriber.cpp     | 114 +++----
 image_transport/src/image_transport.cpp       | 279 +++++++++++-------
 image_transport/src/list_transports.cpp       |  67 ++++-
 image_transport/src/manifest.cpp              |   6 +-
 image_transport/src/publisher.cpp             |  98 +++---
 image_transport/src/republish.cpp             |   8 +-
 image_transport/src/subscriber.cpp            |  62 ++--
 25 files changed, 581 insertions(+), 525 deletions(-)

diff --git a/image_transport/default_plugins.xml b/image_transport/default_plugins.xml
index 70c86767..750da371 100644
--- a/image_transport/default_plugins.xml
+++ b/image_transport/default_plugins.xml
@@ -1,8 +1,17 @@
 <library path="image_transport_plugins">
   <class
     name="image_transport/raw_pub"
-    type="image_transport::RawPublisher"
-    base_class_type="image_transport::PublisherPlugin">
+    type="image_transport::RawPublisher<rclcpp::Node>"
+    base_class_type="image_transport::PublisherPlugin<rclcpp::Node>">
+    <description>
+      This is the default publisher. It publishes the Image as-is on the base topic.
+    </description>
+  </class>
+
+  <class
+    name="image_transport/raw_lifecycle_pub"
+    type="image_transport::RawPublisher<rclcpp_lifecycle::LifecycleNode>"
+    base_class_type="image_transport::PublisherPlugin<rclcpp_lifecycle::LifecycleNode>">
     <description>
       This is the default publisher. It publishes the Image as-is on the base topic.
     </description>
@@ -10,8 +19,17 @@
 
   <class
     name="image_transport/raw_sub"
-    type="image_transport::RawSubscriber"
-    base_class_type="image_transport::SubscriberPlugin">
+    type="image_transport::RawSubscriber<rclcpp::Node>"
+    base_class_type="image_transport::SubscriberPlugin<rclcpp::Node>">
+    <description>
+      This is the default pass-through subscriber for topics of type sensor_msgs/Image.
+    </description>
+  </class>
+
+  <class
+    name="image_transport/raw_lifecycle_sub"
+    type="image_transport::RawSubscriber<rclcpp_lifecycle::LifecycleNode>"
+    base_class_type="image_transport::SubscriberPlugin<rclcpp_lifecycle::LifecycleNode>">
     <description>
       This is the default pass-through subscriber for topics of type sensor_msgs/Image.
     </description>
diff --git a/image_transport/include/image_transport/camera_publisher.hpp b/image_transport/include/image_transport/camera_publisher.hpp
index 497a9d0c..cac5d532 100644
--- a/image_transport/include/image_transport/camera_publisher.hpp
+++ b/image_transport/include/image_transport/camera_publisher.hpp
@@ -44,9 +44,6 @@
 
 namespace image_transport
 {
-
-class ImageTransport;
-
 /**
  * \brief Manages advertisements for publishing camera images.
  *
@@ -62,6 +59,7 @@ class ImageTransport;
  * associated with that handle will stop being called. Once all CameraPublisher for a
  * given base topic go out of scope the topic (and all subtopics) will be unadvertised.
  */
+template<class NodeType = rclcpp::Node>
 class CameraPublisher
 {
 public:
@@ -70,14 +68,14 @@ class CameraPublisher
 
   IMAGE_TRANSPORT_PUBLIC
   CameraPublisher(
-    rclcpp::Node::SharedPtr node,
+    NodeType * node,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions = rclcpp::PublisherOptions());
 
   IMAGE_TRANSPORT_PUBLIC
   CameraPublisher(
-    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+    std::shared_ptr<NodeType> node,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions = rclcpp::PublisherOptions());
diff --git a/image_transport/include/image_transport/camera_subscriber.hpp b/image_transport/include/image_transport/camera_subscriber.hpp
index 75ca133d..ec540753 100644
--- a/image_transport/include/image_transport/camera_subscriber.hpp
+++ b/image_transport/include/image_transport/camera_subscriber.hpp
@@ -43,9 +43,6 @@
 
 namespace image_transport
 {
-
-class ImageTransport;
-
 /**
  * \brief Manages a subscription callback on synchronized Image and CameraInfo topics.
  *
@@ -61,6 +58,7 @@ void callback(const sensor_msgs::msg::Image::ConstSharedPtr&, const sensor_msgs:
  * associated with that handle will stop being called. Once all CameraSubscriber for a given
  * topic go out of scope the topic will be unsubscribed.
  */
+template<class NodeType = rclcpp::Node>
 class CameraSubscriber
 {
 public:
@@ -72,7 +70,7 @@ class CameraSubscriber
 
   IMAGE_TRANSPORT_PUBLIC
   CameraSubscriber(
-    rclcpp::Node::SharedPtr node,
+    NodeType * node,
     const std::string & base_topic,
     const Callback & callback,
     const std::string & transport,
@@ -80,7 +78,7 @@ class CameraSubscriber
 
   IMAGE_TRANSPORT_PUBLIC
   CameraSubscriber(
-    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+    std::shared_ptr<NodeType> node,
     const std::string & base_topic,
     const Callback & callback,
     const std::string & transport,
diff --git a/image_transport/include/image_transport/image_transport.hpp b/image_transport/include/image_transport/image_transport.hpp
index 70b24f63..92df2276 100644
--- a/image_transport/include/image_transport/image_transport.hpp
+++ b/image_transport/include/image_transport/image_transport.hpp
@@ -49,16 +49,18 @@ namespace image_transport
 /*!
  * \brief Advertise an image topic, free function version.
  */
+template<class NodeType = rclcpp::Node>
 IMAGE_TRANSPORT_PUBLIC
-Publisher create_publisher(
-  rclcpp::Node::SharedPtr node,
+Publisher<NodeType> create_publisher(
+  NodeType * node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
 
+template<class NodeType = rclcpp::Node>
 IMAGE_TRANSPORT_PUBLIC
-Publisher create_publisher(
-  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+Publisher<NodeType> create_publisher(
+  std::shared_ptr<NodeType> node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
@@ -66,20 +68,22 @@ Publisher create_publisher(
 /**
  * \brief Subscribe to an image topic, free function version.
  */
+template<class NodeType = rclcpp::Node>
 IMAGE_TRANSPORT_PUBLIC
-Subscriber create_subscription(
-  rclcpp::Node::SharedPtr node,
+Subscriber<NodeType> create_subscription(
+  NodeType * node,
   const std::string & base_topic,
-  const Subscriber::Callback & callback,
+  const typename Subscriber<NodeType>::Callback & callback,
   const std::string & transport,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
 
+template<class NodeType = rclcpp::Node>
 IMAGE_TRANSPORT_PUBLIC
-Subscriber create_subscription(
-  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+Subscriber<NodeType> create_subscription(
+  std::shared_ptr<NodeType> node,
   const std::string & base_topic,
-  const Subscriber::Callback & callback,
+  const typename Subscriber<NodeType>::Callback & callback,
   const std::string & transport,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
@@ -87,16 +91,18 @@ Subscriber create_subscription(
 /*!
  * \brief Advertise a camera, free function version.
  */
+template<class NodeType = rclcpp::Node>
 IMAGE_TRANSPORT_PUBLIC
-CameraPublisher create_camera_publisher(
-  rclcpp::Node::SharedPtr node,
+CameraPublisher<NodeType> create_camera_publisher(
+  NodeType * node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::PublisherOptions pub_options = rclcpp::PublisherOptions());
 
+template<class NodeType = rclcpp::Node>
 IMAGE_TRANSPORT_PUBLIC
-CameraPublisher create_camera_publisher(
-  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+CameraPublisher<NodeType> create_camera_publisher(
+  std::shared_ptr<NodeType> node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::PublisherOptions pub_options = rclcpp::PublisherOptions());
@@ -104,25 +110,29 @@ CameraPublisher create_camera_publisher(
 /*!
  * \brief Subscribe to a camera, free function version.
  */
+template<class NodeType = rclcpp::Node>
 IMAGE_TRANSPORT_PUBLIC
-CameraSubscriber create_camera_subscription(
-  rclcpp::Node::SharedPtr node,
+CameraSubscriber<NodeType> create_camera_subscription(
+  NodeType * node,
   const std::string & base_topic,
-  const CameraSubscriber::Callback & callback,
+  const typename CameraSubscriber<NodeType>::Callback & callback,
   const std::string & transport,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
+template<class NodeType = rclcpp::Node>
 IMAGE_TRANSPORT_PUBLIC
-CameraSubscriber create_camera_subscription(
-  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+CameraSubscriber<NodeType> create_camera_subscription(
+  std::shared_ptr<NodeType> node,
   const std::string & base_topic,
-  const CameraSubscriber::Callback & callback,
+  const typename CameraSubscriber<NodeType>::Callback & callback,
   const std::string & transport,
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
 
+template<class NodeType = rclcpp::Node>
 IMAGE_TRANSPORT_PUBLIC
 std::vector<std::string> getDeclaredTransports();
 
+template<class NodeType = rclcpp::Node>
 IMAGE_TRANSPORT_PUBLIC
 std::vector<std::string> getLoadableTransports();
 
@@ -133,6 +143,7 @@ std::vector<std::string> getLoadableTransports();
  * subscribe() functions for creating advertisements and subscriptions of image topics.
 */
 
+template<class NodeType = rclcpp::Node>
 class ImageTransport
 {
 public:
@@ -141,10 +152,10 @@ class ImageTransport
   using CameraInfoConstPtr = sensor_msgs::msg::CameraInfo::ConstSharedPtr;
 
   IMAGE_TRANSPORT_PUBLIC
-  explicit ImageTransport(rclcpp::Node::SharedPtr node);
+  explicit ImageTransport(NodeType * node);
 
   IMAGE_TRANSPORT_PUBLIC
-  explicit ImageTransport(rclcpp_lifecycle::LifecycleNode::SharedPtr node);
+  explicit ImageTransport(std::shared_ptr<NodeType> node);
 
   IMAGE_TRANSPORT_PUBLIC
   ~ImageTransport();
@@ -153,13 +164,13 @@ class ImageTransport
    * \brief Advertise an image topic, simple version.
    */
   IMAGE_TRANSPORT_PUBLIC
-  Publisher advertise(const std::string & base_topic, uint32_t queue_size, bool latch = false);
+  Publisher<NodeType> advertise(const std::string & base_topic, uint32_t queue_size, bool latch = false);
 
   /*!
    * \brief Advertise an image topic, simple version.
    */
   IMAGE_TRANSPORT_PUBLIC
-  Publisher advertise(
+  Publisher<NodeType> advertise(
     const std::string & base_topic, rmw_qos_profile_t custom_qos,
     bool latch = false);
 
@@ -177,9 +188,9 @@ class ImageTransport
    * \brief Subscribe to an image topic, version for arbitrary std::function object.
    */
   IMAGE_TRANSPORT_PUBLIC
-  Subscriber subscribe(
+  Subscriber<NodeType> subscribe(
     const std::string & base_topic, uint32_t queue_size,
-    const Subscriber::Callback & callback,
+    const typename Subscriber<NodeType>::Callback & callback,
     const VoidPtr & tracked_object = VoidPtr(),
     const TransportHints * transport_hints = nullptr,
     const rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
@@ -188,7 +199,7 @@ class ImageTransport
    * \brief Subscribe to an image topic, version for bare function.
    */
   IMAGE_TRANSPORT_PUBLIC
-  Subscriber subscribe(
+  Subscriber<NodeType> subscribe(
     const std::string & base_topic, uint32_t queue_size,
     void (* fp)(const ImageConstPtr &),
     const TransportHints * transport_hints = nullptr,
@@ -204,7 +215,7 @@ class ImageTransport
    * \brief Subscribe to an image topic, version for class member function with bare pointer.
    */
   template<class T>
-  Subscriber subscribe(
+  Subscriber<NodeType> subscribe(
     const std::string & base_topic, uint32_t queue_size,
     void (T::* fp)(const ImageConstPtr &), T * obj,
     const TransportHints * transport_hints = nullptr,
@@ -219,7 +230,7 @@ class ImageTransport
    * \brief Subscribe to an image topic, version for class member function with shared_ptr.
    */
   template<class T>
-  Subscriber subscribe(
+  Subscriber<NodeType> subscribe(
     const std::string & base_topic, uint32_t queue_size,
     void (T::* fp)(const ImageConstPtr &),
     const std::shared_ptr<T> & obj,
@@ -235,9 +246,9 @@ class ImageTransport
    * \brief Subscribe to an image topic, version for arbitrary std::function object and QoS.
    */
   IMAGE_TRANSPORT_PUBLIC
-  Subscriber subscribe(
+  Subscriber<NodeType> subscribe(
     const std::string & base_topic, rmw_qos_profile_t custom_qos,
-    const Subscriber::Callback & callback,
+    const typename Subscriber<NodeType>::Callback & callback,
     const VoidPtr & tracked_object,
     const TransportHints * transport_hints,
     const rclcpp::SubscriptionOptions options);
@@ -246,7 +257,7 @@ class ImageTransport
    * \brief Subscribe to an image topic, version for bare function.
    */
   IMAGE_TRANSPORT_PUBLIC
-  Subscriber subscribe(
+  Subscriber<NodeType> subscribe(
     const std::string & base_topic, rmw_qos_profile_t custom_qos,
     void (* fp)(const ImageConstPtr &),
     const TransportHints * transport_hints = nullptr,
@@ -262,7 +273,7 @@ class ImageTransport
    * \brief Subscribe to an image topic, version for class member function with bare pointer.
    */
   template<class T>
-  Subscriber subscribe(
+  Subscriber<NodeType> subscribe(
     const std::string & base_topic, rmw_qos_profile_t custom_qos,
     void (T::* fp)(const ImageConstPtr &), T * obj,
     const TransportHints * transport_hints = nullptr,
@@ -277,7 +288,7 @@ class ImageTransport
    * \brief Subscribe to an image topic, version for class member function with shared_ptr.
    */
   template<class T>
-  Subscriber subscribe(
+  Subscriber<NodeType> subscribe(
     const std::string & base_topic, rmw_qos_profile_t custom_qos,
     void (T::* fp)(const ImageConstPtr &),
     const std::shared_ptr<T> & obj,
@@ -293,7 +304,7 @@ class ImageTransport
    * \brief Advertise a synchronized camera raw image + info topic pair, simple version.
    */
   IMAGE_TRANSPORT_PUBLIC
-  CameraPublisher advertiseCamera(
+  CameraPublisher<NodeType> advertiseCamera(
     const std::string & base_topic, uint32_t queue_size,
     bool latch = false);
 
@@ -318,9 +329,9 @@ class ImageTransport
    * named "camera_info" in the same namespace as the base image topic.
    */
   IMAGE_TRANSPORT_PUBLIC
-  CameraSubscriber subscribeCamera(
+  CameraSubscriber<NodeType> subscribeCamera(
     const std::string & base_topic, uint32_t queue_size,
-    const CameraSubscriber::Callback & callback,
+    const typename CameraSubscriber<NodeType>::Callback & callback,
     const VoidPtr & tracked_object = VoidPtr(),
     const TransportHints * transport_hints = nullptr);
 
@@ -328,7 +339,7 @@ class ImageTransport
    * \brief Subscribe to a synchronized image & camera info topic pair, version for bare function.
    */
   IMAGE_TRANSPORT_PUBLIC
-  CameraSubscriber subscribeCamera(
+  CameraSubscriber<NodeType> subscribeCamera(
     const std::string & base_topic, uint32_t queue_size,
     void (* fp)(
       const ImageConstPtr &,
@@ -336,7 +347,7 @@ class ImageTransport
     const TransportHints * transport_hints = nullptr)
   {
     return subscribeCamera(
-      base_topic, queue_size, CameraSubscriber::Callback(fp), VoidPtr(),
+      base_topic, queue_size, typename CameraSubscriber<NodeType>::Callback(fp), VoidPtr(),
       transport_hints);
   }
 
@@ -345,7 +356,7 @@ class ImageTransport
    * function with bare pointer.
    */
   template<class T>
-  CameraSubscriber subscribeCamera(
+  CameraSubscriber<NodeType> subscribeCamera(
     const std::string & base_topic, uint32_t queue_size,
     void (T::* fp)(
       const ImageConstPtr &,
@@ -363,7 +374,7 @@ class ImageTransport
    * function with shared_ptr.
    */
   template<class T>
-  CameraSubscriber subscribeCamera(
+  CameraSubscriber<NodeType> subscribeCamera(
     const std::string & base_topic, uint32_t queue_size,
     void (T::* fp)(
       const ImageConstPtr &,
diff --git a/image_transport/include/image_transport/loader_fwds.hpp b/image_transport/include/image_transport/loader_fwds.hpp
index 5f4cf991..de60b032 100644
--- a/image_transport/include/image_transport/loader_fwds.hpp
+++ b/image_transport/include/image_transport/loader_fwds.hpp
@@ -42,14 +42,20 @@ class ClassLoader;
 
 namespace image_transport
 {
+template<class NodeType>
 class PublisherPlugin;
+template<class NodeType>
 class SubscriberPlugin;
 
-typedef pluginlib::ClassLoader<PublisherPlugin> PubLoader;
-typedef std::shared_ptr<PubLoader> PubLoaderPtr;
+template<class NodeType>
+using PubLoader = pluginlib::ClassLoader<PublisherPlugin<NodeType>>;
+template<class NodeType>
+using PubLoaderPtr = std::shared_ptr<PubLoader<NodeType>>;
 
-typedef pluginlib::ClassLoader<SubscriberPlugin> SubLoader;
-typedef std::shared_ptr<SubLoader> SubLoaderPtr;
+template<class NodeType>
+using SubLoader = pluginlib::ClassLoader<SubscriberPlugin<NodeType>>;
+template<class NodeType>
+using SubLoaderPtr = std::shared_ptr<SubLoader<NodeType>>;
 }  // namespace image_transport
 
 #endif  // IMAGE_TRANSPORT__LOADER_FWDS_HPP_
diff --git a/image_transport/include/image_transport/publisher.hpp b/image_transport/include/image_transport/publisher.hpp
index d1967389..90483d92 100644
--- a/image_transport/include/image_transport/publisher.hpp
+++ b/image_transport/include/image_transport/publisher.hpp
@@ -63,6 +63,7 @@ namespace image_transport
  * associated with that handle will stop being called. Once all Publisher for a
  * given base topic go out of scope the topic (and all subtopics) will be unadvertised.
  */
+template<class NodeType = rclcpp::Node>
 class Publisher
 {
 public:
@@ -71,17 +72,17 @@ class Publisher
 
   IMAGE_TRANSPORT_PUBLIC
   Publisher(
-    rclcpp::Node::SharedPtr nh,
+    NodeType * nh,
     const std::string & base_topic,
-    PubLoaderPtr loader,
+    PubLoaderPtr<NodeType> loader,
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
 
   IMAGE_TRANSPORT_PUBLIC
   Publisher(
-    rclcpp_lifecycle::LifecycleNode::SharedPtr nh,
+    std::shared_ptr<NodeType> nh,
     const std::string & base_topic,
-    PubLoaderPtr loader,
+    PubLoaderPtr<NodeType> loader,
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
   /*!
@@ -132,7 +133,7 @@ class Publisher
 private:
   void initialise(
     const std::string & base_topic,
-    PubLoaderPtr loader,
+    PubLoaderPtr<NodeType> loader,
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options);
 
diff --git a/image_transport/include/image_transport/publisher_plugin.hpp b/image_transport/include/image_transport/publisher_plugin.hpp
index 57c78d68..ab0e1041 100644
--- a/image_transport/include/image_transport/publisher_plugin.hpp
+++ b/image_transport/include/image_transport/publisher_plugin.hpp
@@ -46,6 +46,7 @@ namespace image_transport
 /**
  * \brief Base class for plugins to Publisher.
  */
+template<class NodeType = rclcpp::Node>
 class PublisherPlugin
 {
 public:
@@ -65,30 +66,26 @@ class PublisherPlugin
    * \brief Advertise a topic, simple version.
    */
   void advertise(
-    rclcpp::Node::SharedPtr nh,
+    NodeType * nh,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
   {
-    if (impl_) {
-      throw std::runtime_error("advertise has been called previously!");
+    if (!node_) {
+      node_.reset(nh);
     }
-    impl_ = std::make_unique<Impl>();
-    impl_->node_ = nh;
     advertise(base_topic, custom_qos, options);
   }
 
   void advertise(
-    rclcpp_lifecycle::LifecycleNode::SharedPtr nh,
+    std::shared_ptr<NodeType> nh,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
   {
-    if (impl_) {
-      throw std::runtime_error("advertise has been called previously!");
+    if (!node_) {
+      node_ = nh;
     }
-    impl_ = std::make_unique<Impl>();
-    impl_->lifecycle_node_ = nh;
     advertise(base_topic, custom_qos, options);
   }
 
@@ -99,24 +96,6 @@ class PublisherPlugin
   {
     advertiseImpl(base_topic, custom_qos, options);
   }
-
-  bool get_node(rclcpp::Node::SharedPtr & node) const
-  {
-    if (impl_ && impl_->node_) {
-      node = impl_->node_;
-      return true;
-    }
-    return false;
-  }
-
-  bool get_node(rclcpp_lifecycle::LifecycleNode::SharedPtr & node) const
-  {
-    if (impl_ && impl_->lifecycle_node_) {
-      node = impl_->lifecycle_node_;
-      return true;
-    }
-    return false;
-  }
   /**
    * \brief Returns the number of subscribers that are currently connected to
    * this PublisherPlugin.
@@ -185,14 +164,7 @@ class PublisherPlugin
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options) = 0;
 
-private:
-  struct Impl
-  {
-    rclcpp::Node::SharedPtr node_;
-    rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
-  };
-
-  std::unique_ptr<Impl> impl_;
+  std::shared_ptr<NodeType> node_;
 };
 
 }  // namespace image_transport
diff --git a/image_transport/include/image_transport/raw_publisher.hpp b/image_transport/include/image_transport/raw_publisher.hpp
index e52b26b9..c9d07125 100644
--- a/image_transport/include/image_transport/raw_publisher.hpp
+++ b/image_transport/include/image_transport/raw_publisher.hpp
@@ -46,7 +46,8 @@ namespace image_transport
  * messages on the base topic.
  */
 
-class RawPublisher : public SimplePublisherPlugin<sensor_msgs::msg::Image>
+template<class NodeType = rclcpp::Node>
+class RawPublisher : public SimplePublisherPlugin<sensor_msgs::msg::Image, NodeType>
 {
 public:
   virtual ~RawPublisher() {}
@@ -57,7 +58,7 @@ class RawPublisher : public SimplePublisherPlugin<sensor_msgs::msg::Image>
   }
 
 protected:
-  virtual void publish(const sensor_msgs::msg::Image & message, const PublishFn & publish_fn) const
+  virtual void publish(const sensor_msgs::msg::Image & message, const typename SimplePublisherPlugin<sensor_msgs::msg::Image, NodeType>::PublishFn & publish_fn) const
   {
     publish_fn(message);
   }
diff --git a/image_transport/include/image_transport/raw_subscriber.hpp b/image_transport/include/image_transport/raw_subscriber.hpp
index efe66e5b..db677e4d 100644
--- a/image_transport/include/image_transport/raw_subscriber.hpp
+++ b/image_transport/include/image_transport/raw_subscriber.hpp
@@ -46,7 +46,8 @@ namespace image_transport
  * RawSubscriber is a simple wrapper for ros::Subscriber which listens for Image messages
  * and passes them through to the callback.
  */
-class RawSubscriber : public SimpleSubscriberPlugin<sensor_msgs::msg::Image>
+template<class NodeType = rclcpp::Node>
+class RawSubscriber : public SimpleSubscriberPlugin<sensor_msgs::msg::Image, NodeType>
 {
 public:
   virtual ~RawSubscriber() {}
@@ -59,7 +60,7 @@ class RawSubscriber : public SimpleSubscriberPlugin<sensor_msgs::msg::Image>
 protected:
   void internalCallback(
     const std::shared_ptr<const sensor_msgs::msg::Image> & message,
-    const Callback & user_cb) override
+    const typename SubscriberPlugin<NodeType>::Callback & user_cb) override
   {
     user_cb(message);
   }
diff --git a/image_transport/include/image_transport/republish.hpp b/image_transport/include/image_transport/republish.hpp
index 11fb7f43..31577e5b 100644
--- a/image_transport/include/image_transport/republish.hpp
+++ b/image_transport/include/image_transport/republish.hpp
@@ -52,10 +52,10 @@ class Republisher : public rclcpp::Node
 
   rclcpp::TimerBase::SharedPtr timer_;
   bool initialized_{false};
-  image_transport::Subscriber sub;
-  image_transport::Publisher pub;
-  pluginlib::UniquePtr<image_transport::PublisherPlugin> instance;
-  std::shared_ptr<pluginlib::ClassLoader<image_transport::PublisherPlugin>> loader;
+  image_transport::Subscriber<rclcpp::Node> sub;
+  image_transport::Publisher<rclcpp::Node> pub;
+  pluginlib::UniquePtr<image_transport::PublisherPlugin<rclcpp::Node>> instance;
+  std::shared_ptr<pluginlib::ClassLoader<image_transport::PublisherPlugin<rclcpp::Node>>> loader;
 };
 
 }  // namespace image_transport
diff --git a/image_transport/include/image_transport/simple_publisher_plugin.hpp b/image_transport/include/image_transport/simple_publisher_plugin.hpp
index 9dedbbad..c6ae64b5 100644
--- a/image_transport/include/image_transport/simple_publisher_plugin.hpp
+++ b/image_transport/include/image_transport/simple_publisher_plugin.hpp
@@ -59,8 +59,8 @@ namespace image_transport
  * getTopicToAdvertise() controls the name of the internal communication topic.
  * It defaults to \<base topic\>/\<transport name\>.
  */
-template<class M>
-class SimplePublisherPlugin : public PublisherPlugin
+template<class M, class NodeType = rclcpp::Node>
+class SimplePublisherPlugin : public PublisherPlugin<NodeType>
 {
 public:
   virtual ~SimplePublisherPlugin() {}
@@ -105,18 +105,9 @@ class SimplePublisherPlugin : public PublisherPlugin
   {
     std::string transport_topic = getTopicToAdvertise(base_topic);
     auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
-    simple_impl_ = std::make_unique<SimplePublisherPluginImpl>();
-    if (get_node(simple_impl_->node_)) {
-      simple_impl_->logger_ = simple_impl_->node_->get_logger();
-      simple_impl_->pub_ = simple_impl_->node_->template create_publisher<M>(
-        transport_topic, qos, options);
-    } else if (get_node(simple_impl_->lifecycle_node_)) {
-      simple_impl_->logger_ = simple_impl_->lifecycle_node_->get_logger();
-      simple_impl_->pub_ = simple_impl_->lifecycle_node_->template create_publisher<M>(
-        transport_topic, qos, options);
-    } else {
-      throw std::runtime_error("Not a standard node or lifecycle node!");
-    }
+    simple_impl_ = std::make_unique<SimplePublisherPluginImpl>(PublisherPlugin<NodeType>::node_);
+    simple_impl_->pub_ = simple_impl_->node_->template create_publisher<M>(
+      transport_topic, qos, options);
 
     RCLCPP_DEBUG(simple_impl_->logger_, "getTopicToAdvertise: %s", transport_topic.c_str());
   }
@@ -143,19 +134,25 @@ class SimplePublisherPlugin : public PublisherPlugin
    */
   virtual std::string getTopicToAdvertise(const std::string & base_topic) const
   {
-    return base_topic + "/" + getTransportName();
+    return base_topic + "/" + PublisherPlugin<NodeType>::getTransportName();
   }
 
 private:
   struct SimplePublisherPluginImpl
   {
-    SimplePublisherPluginImpl()
-    : logger_(rclcpp::get_logger("simple_publisher_plugin_impl"))
+    explicit SimplePublisherPluginImpl(NodeType * node)
+    : node_(node),
+      logger_(node->get_logger())
+    {
+    }
+
+    explicit SimplePublisherPluginImpl(std::shared_ptr<NodeType> node)
+    : node_(node),
+      logger_(node->get_logger())
     {
     }
 
-    rclcpp::Node::SharedPtr node_;
-    rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
+    std::shared_ptr<NodeType> node_;
     rclcpp::Logger logger_;
     typename rclcpp::Publisher<M>::SharedPtr pub_;
   };
diff --git a/image_transport/include/image_transport/simple_subscriber_plugin.hpp b/image_transport/include/image_transport/simple_subscriber_plugin.hpp
index d27ace78..2eb7ece2 100644
--- a/image_transport/include/image_transport/simple_subscriber_plugin.hpp
+++ b/image_transport/include/image_transport/simple_subscriber_plugin.hpp
@@ -59,8 +59,8 @@ namespace image_transport
  * getTopicToSubscribe() controls the name of the internal communication topic. It
  * defaults to \<base topic\>/\<transport name\>.
  */
-template<class M>
-class SimpleSubscriberPlugin : public SubscriberPlugin
+template<class M, class NodeType = rclcpp::Node>
+class SimpleSubscriberPlugin : public SubscriberPlugin<NodeType>
 {
 public:
   virtual ~SimpleSubscriberPlugin() {}
@@ -96,7 +96,7 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
 
   virtual void internalCallback(
     const typename std::shared_ptr<const M> & message,
-    const Callback & user_cb) = 0;
+    const typename SubscriberPlugin<NodeType>::Callback & user_cb) = 0;
 
   /**
    * \brief Return the communication topic name for a given base topic.
@@ -105,12 +105,12 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
    */
   virtual std::string getTopicToSubscribe(const std::string & base_topic) const
   {
-    return base_topic + "/" + getTransportName();
+    return base_topic + "/" + SubscriberPlugin<NodeType>::getTransportName();
   }
 
   void subscribeImpl(
     const std::string & base_topic,
-    const Callback & callback,
+    const typename SubscriberPlugin<NodeType>::Callback & callback,
     rmw_qos_profile_t custom_qos,
     rclcpp::SubscriptionOptions options) override
   {
@@ -119,30 +119,17 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
     // ros::NodeHandle param_nh(transport_hints.getParameterNH(), getTransportName());
     //
     auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
-    if (get_node(impl_->node_)) {
-      impl_->sub_ = impl_->node_->template create_subscription<M>(
-        getTopicToSubscribe(base_topic), qos,
-        [this, callback](const typename std::shared_ptr<const M> msg) {
-          internalCallback(msg, callback);
-        },
-        options);
-    } else if (get_node(impl_->lifecycle_node_)) {
-      impl_->sub_ = impl_->lifecycle_node_->template create_subscription<M>(
-        getTopicToSubscribe(base_topic), qos,
-        [this, callback](const typename std::shared_ptr<const M> msg) {
-          internalCallback(msg, callback);
-        },
-        options);
-    } else {
-      throw std::runtime_error("Not a standard node or lifecycle node!");
-    }
+    impl_->sub_ = SubscriberPlugin<NodeType>::node_->template create_subscription<M>(
+      getTopicToSubscribe(base_topic), qos,
+      [this, callback](const typename std::shared_ptr<const M> msg) {
+        internalCallback(msg, callback);
+      },
+      options);
   }
 
 private:
   struct Impl
   {
-    rclcpp::Node::SharedPtr node_;
-    rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
     rclcpp::SubscriptionBase::SharedPtr sub_;
   };
 
diff --git a/image_transport/include/image_transport/single_subscriber_publisher.hpp b/image_transport/include/image_transport/single_subscriber_publisher.hpp
index e6347db8..f553f9e2 100644
--- a/image_transport/include/image_transport/single_subscriber_publisher.hpp
+++ b/image_transport/include/image_transport/single_subscriber_publisher.hpp
@@ -80,8 +80,6 @@ class SingleSubscriberPublisher
   std::string topic_;
   GetNumSubscribersFn num_subscribers_fn_;
   PublishFn publish_fn_;
-
-  friend class Publisher;  // to get publish_fn_ directly
 };
 
 typedef std::function<void (const SingleSubscriberPublisher &)> SubscriberStatusCallback;
diff --git a/image_transport/include/image_transport/subscriber.hpp b/image_transport/include/image_transport/subscriber.hpp
index 1d6bad23..a32df9d0 100644
--- a/image_transport/include/image_transport/subscriber.hpp
+++ b/image_transport/include/image_transport/subscriber.hpp
@@ -59,6 +59,7 @@ namespace image_transport
  * associated with that handle will stop being called. Once all Subscriber for a given
  * topic go out of scope the topic will be unsubscribed.
  */
+template<class NodeType = rclcpp::Node>
 class Subscriber
 {
 public:
@@ -69,20 +70,20 @@ class Subscriber
 
   IMAGE_TRANSPORT_PUBLIC
   Subscriber(
-    rclcpp::Node::SharedPtr node,
+    NodeType * node,
     const std::string & base_topic,
     const Callback & callback,
-    SubLoaderPtr loader,
+    SubLoaderPtr<NodeType> loader,
     const std::string & transport,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
 
   IMAGE_TRANSPORT_PUBLIC
   Subscriber(
-    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+    std::shared_ptr<NodeType> node,
     const std::string & base_topic,
     const Callback & callback,
-    SubLoaderPtr loader,
+    SubLoaderPtr<NodeType> loader,
     const std::string & transport,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
diff --git a/image_transport/include/image_transport/subscriber_filter.hpp b/image_transport/include/image_transport/subscriber_filter.hpp
index 0050df43..b7b731d6 100644
--- a/image_transport/include/image_transport/subscriber_filter.hpp
+++ b/image_transport/include/image_transport/subscriber_filter.hpp
@@ -62,6 +62,7 @@ void callback(const std::shared_ptr<const sensor_msgs::msg::Image>&);
 \endverbatim
  */
 
+template<class NodeType = rclcpp::Node>
 class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::Image>
 {
 public:
@@ -77,7 +78,7 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
    */
   IMAGE_TRANSPORT_PUBLIC
   SubscriberFilter(
-    rclcpp::Node::SharedPtr node, const std::string & base_topic,
+    NodeType * node, const std::string & base_topic,
     const std::string & transport)
   {
     subscribe(node, base_topic, transport);
@@ -85,7 +86,7 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
 
   IMAGE_TRANSPORT_PUBLIC
   SubscriberFilter(
-    rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::string & base_topic,
+    std::shared_ptr<NodeType> node, const std::string & base_topic,
     const std::string & transport)
   {
     subscribe(node, base_topic, transport);
@@ -115,7 +116,7 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
    */
   IMAGE_TRANSPORT_PUBLIC
   void subscribe(
-    rclcpp::Node::SharedPtr node,
+    NodeType * node,
     const std::string & base_topic,
     const std::string & transport,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
@@ -130,7 +131,7 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
 
   IMAGE_TRANSPORT_PUBLIC
   void subscribe(
-    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+    std::shared_ptr<NodeType> node,
     const std::string & base_topic,
     const std::string & transport,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
@@ -180,7 +181,7 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
    * \brief Returns the internal image_transport::Subscriber object.
    */
   IMAGE_TRANSPORT_PUBLIC
-  const Subscriber & getSubscriber() const
+  const Subscriber<NodeType> & getSubscriber() const
   {
     return sub_;
   }
@@ -191,7 +192,7 @@ class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::
     signalMessage(m);
   }
 
-  Subscriber sub_;
+  Subscriber<NodeType> sub_;
 };
 
 }  // namespace image_transport
diff --git a/image_transport/include/image_transport/subscriber_plugin.hpp b/image_transport/include/image_transport/subscriber_plugin.hpp
index 71b18fdd..4f0b2836 100644
--- a/image_transport/include/image_transport/subscriber_plugin.hpp
+++ b/image_transport/include/image_transport/subscriber_plugin.hpp
@@ -45,6 +45,7 @@ namespace image_transport
 /**
  * \brief Base class for plugins to Subscriber.
  */
+template<class NodeType = rclcpp::Node>
 class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
 {
 public:
@@ -66,40 +67,26 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
    * \brief Subscribe to an image topic, version for arbitrary std::function object.
    */
   void subscribe(
-    rclcpp::Node::SharedPtr node, const std::string & base_topic,
+    NodeType * node, const std::string & base_topic,
     const Callback & callback,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
   {
-    if (!impl_) {
-      impl_ = std::make_unique<Impl>();
+    if (!node_) {
+      node_.reset(node);
     }
-    if (impl_->lifecycle_node_) {
-      throw std::runtime_error("subscribe has been called previously with a lifecycle node!");
-    }
-    if (!impl_->node_) {
-      impl_->node_ = node;
-    }
-
     return subscribeImpl(base_topic, callback, custom_qos, options);
   }
 
   void subscribe(
-    rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::string & base_topic,
+    std::shared_ptr<NodeType> node, const std::string & base_topic,
     const Callback & callback,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
   {
-    if (!impl_) {
-      impl_ = std::make_unique<Impl>();
-    }
-    if (impl_->node_) {
-      throw std::runtime_error("subscribe has been called previously with a standard node!");
+    if (!node_) {
+      node_ = node;
     }
-    if (!impl_->lifecycle_node_) {
-      impl_->lifecycle_node_ = node;
-    }
-
     return subscribeImpl(base_topic, callback, custom_qos, options);
   }
 
@@ -107,7 +94,7 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
    * \brief Subscribe to an image topic, version for bare function.
    */
   void subscribe(
-    rclcpp::Node::SharedPtr node, const std::string & base_topic,
+    NodeType * node, const std::string & base_topic,
     void (* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &),
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
@@ -119,7 +106,7 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
   }
 
   void subscribe(
-    rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::string & base_topic,
+    std::shared_ptr<NodeType> node, const std::string & base_topic,
     void (* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &),
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
@@ -135,7 +122,7 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
    */
   template<class T>
   void subscribe(
-    rclcpp::Node::SharedPtr node, const std::string & base_topic,
+    NodeType * node, const std::string & base_topic,
     void (T::* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &), T * obj,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
@@ -147,7 +134,7 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
 
   template<class T>
   void subscribe(
-    rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::string & base_topic,
+    std::shared_ptr<NodeType> node, const std::string & base_topic,
     void (T::* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &), T * obj,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
@@ -162,7 +149,7 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
    */
   template<class T>
   void subscribe(
-    rclcpp::Node::SharedPtr node, const std::string & base_topic,
+    NodeType * node, const std::string & base_topic,
     void (T::* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &),
     std::shared_ptr<T> & obj,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
@@ -174,7 +161,7 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
 
   template<class T>
   void subscribe(
-    rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::string & base_topic,
+    std::shared_ptr<NodeType> node, const std::string & base_topic,
     void (T::* fp)(const sensor_msgs::msg::Image::ConstSharedPtr &),
     std::shared_ptr<T> & obj,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
@@ -184,24 +171,6 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
       std::bind(fp, obj, std::placeholders::_1), custom_qos);
   }
 
-  bool get_node(rclcpp::Node::SharedPtr & node) const
-  {
-    if (impl_ && impl_->node_) {
-      node = impl_->node_;
-      return true;
-    }
-    return false;
-  }
-
-  bool get_node(rclcpp_lifecycle::LifecycleNode::SharedPtr & node) const
-  {
-    if (impl_ && impl_->lifecycle_node_) {
-      node = impl_->lifecycle_node_;
-      return true;
-    }
-    return false;
-  }
-
   /**
    * \brief Get the transport-specific communication topic.
    */
@@ -236,14 +205,7 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
     rmw_qos_profile_t custom_qos,
     rclcpp::SubscriptionOptions options) = 0;
 
-private:
-  struct Impl
-  {
-    rclcpp::Node::SharedPtr node_;
-    rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
-  };
-
-  std::unique_ptr<Impl> impl_;
+  std::shared_ptr<NodeType> node_;
 };
 
 }  // namespace image_transport
diff --git a/image_transport/include/image_transport/transport_hints.hpp b/image_transport/include/image_transport/transport_hints.hpp
index ed1c2384..049485a4 100644
--- a/image_transport/include/image_transport/transport_hints.hpp
+++ b/image_transport/include/image_transport/transport_hints.hpp
@@ -58,6 +58,15 @@ class TransportHints
    * @param default_transport Preferred transport to use
    * @param parameter_name The name of the transport parameter
    */
+  IMAGE_TRANSPORT_PUBLIC
+  TransportHints(
+    const rclcpp::Node * node,
+    const std::string & default_transport = "raw",
+    const std::string & parameter_name = "image_transport")
+  {
+    node->get_parameter_or<std::string>(parameter_name, transport_, default_transport);
+  }
+
   IMAGE_TRANSPORT_PUBLIC
   TransportHints(
     const rclcpp::Node::SharedPtr node,
diff --git a/image_transport/src/camera_publisher.cpp b/image_transport/src/camera_publisher.cpp
index 8859fecb..b1569c96 100644
--- a/image_transport/src/camera_publisher.cpp
+++ b/image_transport/src/camera_publisher.cpp
@@ -41,17 +41,21 @@
 namespace image_transport
 {
 
-struct CameraPublisher::Impl
+template class CameraPublisher<rclcpp::Node>;
+template class CameraPublisher<rclcpp_lifecycle::LifecycleNode>;
+
+template<class NodeType>
+struct CameraPublisher<NodeType>::Impl
 {
-  explicit Impl(rclcpp::Node::SharedPtr node)
+  explicit Impl(NodeType * node)
   : node_(node),
     logger_(node->get_logger()),
     unadvertised_(false)
   {
   }
 
-  explicit Impl(rclcpp_lifecycle::LifecycleNode::SharedPtr node)
-  : lifecycle_node_(node),
+  explicit Impl(std::shared_ptr<NodeType> node)
+  : node_(node),
     logger_(node->get_logger()),
     unadvertised_(false)
   {
@@ -76,16 +80,16 @@ struct CameraPublisher::Impl
     }
   }
 
-  rclcpp::Node::SharedPtr node_;
-  rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
+  std::shared_ptr<NodeType> node_;
   rclcpp::Logger logger_;
-  Publisher image_pub_;
+  Publisher<NodeType> image_pub_;
   rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr info_pub_;
   bool unadvertised_;
 };
 
-CameraPublisher::CameraPublisher(
-  rclcpp::Node::SharedPtr node,
+template<class NodeType>
+CameraPublisher<NodeType>::CameraPublisher(
+  NodeType * node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions pub_options)
@@ -94,8 +98,9 @@ CameraPublisher::CameraPublisher(
   initialise(base_topic, custom_qos, pub_options);
 }
 
-CameraPublisher::CameraPublisher(
-  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+template<class NodeType>
+CameraPublisher<NodeType>::CameraPublisher(
+  std::shared_ptr<NodeType> node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions pub_options)
@@ -104,7 +109,8 @@ CameraPublisher::CameraPublisher(
   initialise(base_topic, custom_qos, pub_options);
 }
 
-void CameraPublisher::initialise(
+template<class NodeType>
+void CameraPublisher<NodeType>::initialise(
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions pub_options)
@@ -115,32 +121,20 @@ void CameraPublisher::initialise(
   // Explicitly resolve name here so we compute the correct CameraInfo topic when the
   // image topic is remapped (#4539).
   std::string image_topic;
-  if (impl_->node_) {
-    image_topic = rclcpp::expand_topic_or_service_name(
-      base_topic,
-      impl_->node_->get_name(), impl_->node_->get_namespace());
-  } else {
-    image_topic = rclcpp::expand_topic_or_service_name(
-      base_topic,
-      impl_->lifecycle_node_->get_name(), impl_->lifecycle_node_->get_namespace());
-  }
+  image_topic = rclcpp::expand_topic_or_service_name(
+    base_topic,
+    impl_->node_->get_name(), impl_->node_->get_namespace());
   std::string info_topic = getCameraInfoTopic(image_topic);
 
   auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
-  if (impl_->node_) {
-    impl_->image_pub_ = image_transport::create_publisher(
-      impl_->node_, image_topic, custom_qos, pub_options);
-    impl_->info_pub_ =
-      impl_->node_->create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
-  } else {
-    impl_->image_pub_ = image_transport::create_publisher(
-      impl_->lifecycle_node_, image_topic, custom_qos, pub_options);
-    impl_->info_pub_ =
-      impl_->lifecycle_node_->create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
-  }
+  impl_->image_pub_ = image_transport::create_publisher(
+    impl_->node_, image_topic, custom_qos, pub_options);
+  impl_->info_pub_ =
+    impl_->node_->template create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
 }
 
-size_t CameraPublisher::getNumSubscribers() const
+template<class NodeType>
+size_t CameraPublisher<NodeType>::getNumSubscribers() const
 {
   if (impl_ && impl_->isValid()) {
     return std::max(
@@ -150,7 +144,8 @@ size_t CameraPublisher::getNumSubscribers() const
   return 0;
 }
 
-std::string CameraPublisher::getTopic() const
+template<class NodeType>
+std::string CameraPublisher<NodeType>::getTopic() const
 {
   if (impl_) {
     return impl_->image_pub_.getTopic();
@@ -158,7 +153,8 @@ std::string CameraPublisher::getTopic() const
   return std::string();
 }
 
-std::string CameraPublisher::getInfoTopic() const
+template<class NodeType>
+std::string CameraPublisher<NodeType>::getInfoTopic() const
 {
   if (impl_) {
     return impl_->info_pub_->get_topic_name();
@@ -166,7 +162,8 @@ std::string CameraPublisher::getInfoTopic() const
   return std::string();
 }
 
-void CameraPublisher::publish(
+template<class NodeType>
+void CameraPublisher<NodeType>::publish(
   const sensor_msgs::msg::Image & image,
   const sensor_msgs::msg::CameraInfo & info) const
 {
@@ -183,7 +180,8 @@ void CameraPublisher::publish(
   impl_->info_pub_->publish(info);
 }
 
-void CameraPublisher::publish(
+template<class NodeType>
+void CameraPublisher<NodeType>::publish(
   const sensor_msgs::msg::Image::ConstSharedPtr & image,
   const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info) const
 {
@@ -200,7 +198,8 @@ void CameraPublisher::publish(
   impl_->info_pub_->publish(*info);
 }
 
-void CameraPublisher::publish(
+template<class NodeType>
+void CameraPublisher<NodeType>::publish(
   sensor_msgs::msg::Image & image, sensor_msgs::msg::CameraInfo & info,
   rclcpp::Time stamp) const
 {
@@ -219,7 +218,8 @@ void CameraPublisher::publish(
   impl_->info_pub_->publish(info);
 }
 
-void CameraPublisher::shutdown()
+template<class NodeType>
+void CameraPublisher<NodeType>::shutdown()
 {
   if (impl_) {
     impl_->shutdown();
@@ -227,7 +227,8 @@ void CameraPublisher::shutdown()
   }
 }
 
-CameraPublisher::operator void *() const
+template<class NodeType>
+CameraPublisher<NodeType>::operator void *() const
 {
   return (impl_ && impl_->isValid()) ? reinterpret_cast<void *>(1) : reinterpret_cast<void *>(0);
 }
diff --git a/image_transport/src/camera_subscriber.cpp b/image_transport/src/camera_subscriber.cpp
index c0cf3023..740499a8 100644
--- a/image_transport/src/camera_subscriber.cpp
+++ b/image_transport/src/camera_subscriber.cpp
@@ -45,13 +45,17 @@ inline void increment(int * value)
 namespace image_transport
 {
 
-struct CameraSubscriber::Impl
+template class CameraSubscriber<rclcpp::Node>;
+template class CameraSubscriber<rclcpp_lifecycle::LifecycleNode>;
+
+template<class NodeType>
+struct CameraSubscriber<NodeType>::Impl
 {
   using Image = sensor_msgs::msg::Image;
   using CameraInfo = sensor_msgs::msg::CameraInfo;
   using TimeSync = message_filters::TimeSynchronizer<Image, CameraInfo>;
 
-  explicit Impl(rclcpp::Node::SharedPtr node)
+  explicit Impl(NodeType * node)
   : node_(node),
     logger_(node->get_logger()),
     sync_(10),
@@ -60,8 +64,8 @@ struct CameraSubscriber::Impl
   {
   }
 
-  explicit Impl(rclcpp_lifecycle::LifecycleNode::SharedPtr node)
-  : lifecycle_node_(node),
+  explicit Impl(std::shared_ptr<NodeType> node)
+  : node_(node),
     logger_(node->get_logger()),
     sync_(10),
     unsubscribed_(false),
@@ -84,11 +88,7 @@ struct CameraSubscriber::Impl
     if (!unsubscribed_) {
       unsubscribed_ = true;
       image_sub_.unsubscribe();
-      if (node_) {
-        info_sub_.unsubscribe();
-      } else {
-        lifecycle_info_sub_.unsubscribe();
-      }
+      info_sub_.unsubscribe();
     }
   }
 
@@ -97,11 +97,7 @@ struct CameraSubscriber::Impl
     int threshold = 3 * both_received_;
     if (image_received_ > threshold || info_received_ > threshold) {
       std::string info_topic;
-      if (node_) {
-        info_topic = info_sub_.getTopic();
-      } else {
-        info_topic = lifecycle_info_sub_.getTopic();
-      }
+      info_topic = info_sub_.getTopic();
       RCLCPP_WARN(
         logger_,
         "[image_transport] Topics '%s' and '%s' do not appear to be synchronized. "
@@ -115,12 +111,10 @@ struct CameraSubscriber::Impl
     image_received_ = info_received_ = both_received_ = 0;
   }
 
-  rclcpp::Node::SharedPtr node_;
-  rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
+  std::shared_ptr<NodeType> node_;
   rclcpp::Logger logger_;
-  SubscriberFilter image_sub_;
-  message_filters::Subscriber<CameraInfo> info_sub_;
-  message_filters::Subscriber<CameraInfo, rclcpp_lifecycle::LifecycleNode> lifecycle_info_sub_;
+  SubscriberFilter<NodeType> image_sub_;
+  typename message_filters::Subscriber<CameraInfo, NodeType> info_sub_;
   TimeSync sync_;
 
   bool unsubscribed_;
@@ -129,8 +123,9 @@ struct CameraSubscriber::Impl
   int image_received_, info_received_, both_received_;
 };
 
-CameraSubscriber::CameraSubscriber(
-  rclcpp::Node::SharedPtr node,
+template<class NodeType>
+CameraSubscriber<NodeType>::CameraSubscriber(
+  NodeType * node,
   const std::string & base_topic,
   const Callback & callback,
   const std::string & transport,
@@ -140,8 +135,9 @@ CameraSubscriber::CameraSubscriber(
   initialise(base_topic, callback, transport, custom_qos);
 }
 
-CameraSubscriber::CameraSubscriber(
-  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+template<class NodeType>
+CameraSubscriber<NodeType>::CameraSubscriber(
+  std::shared_ptr<NodeType> node,
   const std::string & base_topic,
   const Callback & callback,
   const std::string & transport,
@@ -151,7 +147,8 @@ CameraSubscriber::CameraSubscriber(
   initialise(base_topic, callback, transport, custom_qos);
 }
 
-void CameraSubscriber::initialise(
+template<class NodeType>
+void CameraSubscriber<NodeType>::initialise(
   const std::string & base_topic,
   const Callback & callback,
   const std::string & transport,
@@ -163,28 +160,15 @@ void CameraSubscriber::initialise(
   // Must explicitly remap the image topic since we then do some string manipulation on it
   // to figure out the sibling camera_info topic.
   std::string image_topic;
-  if (impl_->node_) {
-    image_topic = rclcpp::expand_topic_or_service_name(
-      base_topic,
-      impl_->node_->get_name(), impl_->node_->get_namespace());
-  } else {
-    image_topic = rclcpp::expand_topic_or_service_name(
-      base_topic,
-      impl_->lifecycle_node_->get_name(), impl_->lifecycle_node_->get_namespace());
-  }
+  image_topic = rclcpp::expand_topic_or_service_name(
+    base_topic,
+    impl_->node_->get_name(), impl_->node_->get_namespace());
   std::string info_topic = getCameraInfoTopic(image_topic);
 
-  if (impl_->node_) {
-    impl_->image_sub_.subscribe(impl_->node_, image_topic, transport, custom_qos);
-    impl_->info_sub_.subscribe(impl_->node_, info_topic, custom_qos);
-    impl_->sync_.connectInput(impl_->image_sub_, impl_->info_sub_);
-    impl_->info_sub_.registerCallback(std::bind(increment, &impl_->info_received_));
-  } else {
-    impl_->image_sub_.subscribe(impl_->lifecycle_node_, image_topic, transport, custom_qos);
-    impl_->lifecycle_info_sub_.subscribe(impl_->lifecycle_node_, info_topic, custom_qos);
-    impl_->sync_.connectInput(impl_->image_sub_, impl_->lifecycle_info_sub_);
-    impl_->lifecycle_info_sub_.registerCallback(std::bind(increment, &impl_->info_received_));
-  }
+  impl_->image_sub_.subscribe(impl_->node_, image_topic, transport, custom_qos);
+  impl_->info_sub_.subscribe(impl_->node_, info_topic, custom_qos);
+  impl_->sync_.connectInput(impl_->image_sub_, impl_->info_sub_);
+  impl_->info_sub_.registerCallback(std::bind(increment, &impl_->info_received_));
 
   impl_->sync_.registerCallback(std::bind(callback, std::placeholders::_1, std::placeholders::_2));
 
@@ -192,44 +176,33 @@ void CameraSubscriber::initialise(
   impl_->image_sub_.registerCallback(std::bind(increment, &impl_->image_received_));
   impl_->sync_.registerCallback(std::bind(increment, &impl_->both_received_));
 
-  if (impl_->node_) {
-    impl_->check_synced_timer_ = impl_->node_->create_wall_timer(
-      std::chrono::seconds(1),
-      std::bind(&Impl::checkImagesSynchronized, impl_.get()));
-  } else {
-    impl_->check_synced_timer_ = impl_->lifecycle_node_->create_wall_timer(
-      std::chrono::seconds(1),
-      std::bind(&Impl::checkImagesSynchronized, impl_.get()));
-  }
+  impl_->check_synced_timer_ = impl_->node_->create_wall_timer(
+    std::chrono::seconds(1),
+    std::bind(&Impl::checkImagesSynchronized, impl_.get()));
 }
 
-std::string CameraSubscriber::getTopic() const
+template<class NodeType>
+std::string CameraSubscriber<NodeType>::getTopic() const
 {
   if (impl_) {return impl_->image_sub_.getTopic();}
   return std::string();
 }
 
-std::string CameraSubscriber::getInfoTopic() const
+template<class NodeType>
+std::string CameraSubscriber<NodeType>::getInfoTopic() const
 {
   if (impl_) {
-    if (impl_->node_) {
-      return impl_->info_sub_.getSubscriber()->get_topic_name();
-    } else {
-      return impl_->lifecycle_info_sub_.getSubscriber()->get_topic_name();
-    }
+    return impl_->info_sub_.getSubscriber()->get_topic_name();
   }
   return std::string();
 }
 
-size_t CameraSubscriber::getNumPublishers() const
+template<class NodeType>
+size_t CameraSubscriber<NodeType>::getNumPublishers() const
 {
   if (impl_) {
     size_t info_pub_count;
-    if (impl_->node_) {
-      info_pub_count = impl_->info_sub_.getSubscriber()->get_publisher_count();
-    } else {
-      info_pub_count = impl_->lifecycle_info_sub_.getSubscriber()->get_publisher_count();
-    }
+    info_pub_count = impl_->info_sub_.getSubscriber()->get_publisher_count();
 
     return std::max(
       impl_->image_sub_.getSubscriber().getNumPublishers(),
@@ -238,18 +211,21 @@ size_t CameraSubscriber::getNumPublishers() const
   return 0;
 }
 
-std::string CameraSubscriber::getTransport() const
+template<class NodeType>
+std::string CameraSubscriber<NodeType>::getTransport() const
 {
   if (impl_) {return impl_->image_sub_.getTransport();}
   return std::string();
 }
 
-void CameraSubscriber::shutdown()
+template<class NodeType>
+void CameraSubscriber<NodeType>::shutdown()
 {
   if (impl_) {impl_->shutdown();}
 }
 
-CameraSubscriber::operator void *() const
+template<class NodeType>
+CameraSubscriber<NodeType>::operator void *() const
 {
   return (impl_ && impl_->isValid()) ? reinterpret_cast<void *>(1) : reinterpret_cast<void *>(0);
 }
diff --git a/image_transport/src/image_transport.cpp b/image_transport/src/image_transport.cpp
index 5d83eb95..53e5edfe 100644
--- a/image_transport/src/image_transport.cpp
+++ b/image_transport/src/image_transport.cpp
@@ -42,62 +42,112 @@
 namespace image_transport
 {
 
+template class ImageTransport<rclcpp::Node>;
+template class ImageTransport<rclcpp_lifecycle::LifecycleNode>;
+
+
 struct Impl
 {
-  PubLoaderPtr pub_loader_;
-  SubLoaderPtr sub_loader_;
+  PubLoaderPtr<rclcpp::Node> pub_loader_;
+  SubLoaderPtr<rclcpp::Node> sub_loader_;
 
   Impl()
-  : pub_loader_(std::make_shared<PubLoader>("image_transport", "image_transport::PublisherPlugin")),
-    sub_loader_(std::make_shared<SubLoader>("image_transport", "image_transport::SubscriberPlugin"))
+  : pub_loader_(std::make_shared<PubLoader<rclcpp::Node>>("image_transport", "image_transport::PublisherPlugin<rclcpp::Node>")),
+    sub_loader_(std::make_shared<SubLoader<rclcpp::Node>>("image_transport", "image_transport::SubscriberPlugin<rclcpp::Node>"))
   {
   }
 };
 
-static Impl * kImpl = new Impl();
+struct ImplLifecycle
+{
+  PubLoaderPtr<rclcpp_lifecycle::LifecycleNode> pub_loader_;
+  SubLoaderPtr<rclcpp_lifecycle::LifecycleNode> sub_loader_;
+
+  ImplLifecycle()
+  : pub_loader_(std::make_shared<PubLoader<rclcpp_lifecycle::LifecycleNode>>("image_transport", "image_transport::PublisherPlugin<rclcpp_lifecycle::LifecycleNode>")),
+    sub_loader_(std::make_shared<SubLoader<rclcpp_lifecycle::LifecycleNode>>("image_transport", "image_transport::SubscriberPlugin<rclcpp_lifecycle::LifecycleNode>"))
+  {
+  }
+};
 
-Publisher create_publisher(
-  rclcpp::Node::SharedPtr node,
+static std::unique_ptr<Impl> kImpl = std::make_unique<Impl>();
+static std::unique_ptr<ImplLifecycle> kImpl_lifecycle = std::make_unique<ImplLifecycle>();
+
+template<class NodeType>
+Publisher<NodeType> create_publisher(
+  NodeType * node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions options)
 {
-  return Publisher(node, base_topic, kImpl->pub_loader_, custom_qos, options);
+  if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
+  {
+    return Publisher(node, base_topic, kImpl->pub_loader_, custom_qos, options);
+  }
+  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
+  {
+    return Publisher(node, base_topic, kImpl_lifecycle->pub_loader_, custom_qos, options);
+  }
 }
 
-Publisher create_publisher(
-  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+template<class NodeType>
+Publisher<NodeType> create_publisher(
+  std::shared_ptr<NodeType> node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions options)
 {
-  return Publisher(node, base_topic, kImpl->pub_loader_, custom_qos, options);
+  if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
+  {
+    return Publisher(node, base_topic, kImpl->pub_loader_, custom_qos, options);
+  }
+  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
+  {
+    return Publisher(node, base_topic, kImpl_lifecycle->pub_loader_, custom_qos, options);
+  }
 }
 
-Subscriber create_subscription(
-  rclcpp::Node::SharedPtr node,
+template<class NodeType>
+Subscriber<NodeType> create_subscription(
+  NodeType * node,
   const std::string & base_topic,
-  const Subscriber::Callback & callback,
+  const typename Subscriber<NodeType>::Callback & callback,
   const std::string & transport,
   rmw_qos_profile_t custom_qos,
   rclcpp::SubscriptionOptions options)
 {
-  return Subscriber(node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos, options);
+  if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
+  {
+    return Subscriber(node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos, options);
+  }
+  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
+  {
+    return Subscriber(node, base_topic, callback, kImpl_lifecycle->sub_loader_, transport + "_lifecycle", custom_qos, options);
+  }
 }
 
-Subscriber create_subscription(
-  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+template<class NodeType>
+Subscriber<NodeType> create_subscription(
+  std::shared_ptr<NodeType> node,
   const std::string & base_topic,
-  const Subscriber::Callback & callback,
+  const typename Subscriber<NodeType>::Callback & callback,
   const std::string & transport,
   rmw_qos_profile_t custom_qos,
   rclcpp::SubscriptionOptions options)
 {
-  return Subscriber(node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos, options);
+  if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
+  {
+    return Subscriber(node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos, options);
+  }
+  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
+  {
+    return Subscriber(node, base_topic, callback, kImpl_lifecycle->sub_loader_, transport + "_lifecycle", custom_qos, options);
+  }
 }
 
-CameraPublisher create_camera_publisher(
-  rclcpp::Node::SharedPtr node,
+template<class NodeType>
+CameraPublisher<NodeType> create_camera_publisher(
+  NodeType * node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions pub_options)
@@ -105,8 +155,9 @@ CameraPublisher create_camera_publisher(
   return CameraPublisher(node, base_topic, custom_qos, pub_options);
 }
 
-CameraPublisher create_camera_publisher(
-  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+template<class NodeType>
+CameraPublisher<NodeType> create_camera_publisher(
+  std::shared_ptr<NodeType> node,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions pub_options)
@@ -114,29 +165,40 @@ CameraPublisher create_camera_publisher(
   return CameraPublisher(node, base_topic, custom_qos, pub_options);
 }
 
-CameraSubscriber create_camera_subscription(
-  rclcpp::Node::SharedPtr node,
+template<class NodeType>
+CameraSubscriber<NodeType> create_camera_subscription(
+  NodeType * node,
   const std::string & base_topic,
-  const CameraSubscriber::Callback & callback,
+  const typename CameraSubscriber<NodeType>::Callback & callback,
   const std::string & transport,
   rmw_qos_profile_t custom_qos)
 {
   return CameraSubscriber(node, base_topic, callback, transport, custom_qos);
 }
 
-CameraSubscriber create_camera_subscription(
-  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+template<class NodeType>
+CameraSubscriber<NodeType> create_camera_subscription(
+  std::shared_ptr<NodeType> node,
   const std::string & base_topic,
-  const CameraSubscriber::Callback & callback,
+  const typename CameraSubscriber<NodeType>::Callback & callback,
   const std::string & transport,
   rmw_qos_profile_t custom_qos)
 {
   return CameraSubscriber(node, base_topic, callback, transport, custom_qos);
 }
 
+template<class NodeType>
 std::vector<std::string> getDeclaredTransports()
 {
-  std::vector<std::string> transports = kImpl->sub_loader_->getDeclaredClasses();
+  std::vector<std::string> transports;
+  if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
+  {
+    transports = kImpl->sub_loader_->getDeclaredClasses();
+  }
+  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
+  {
+    transports = kImpl_lifecycle->sub_loader_->getDeclaredClasses();
+  }
   // Remove the "_sub" at the end of each class name.
   for (std::string & transport : transports) {
     transport = erase_last_copy(transport, "_sub");
@@ -144,17 +206,33 @@ std::vector<std::string> getDeclaredTransports()
   return transports;
 }
 
+template<class NodeType>
 std::vector<std::string> getLoadableTransports()
 {
   std::vector<std::string> loadableTransports;
-
-  for (const std::string & transportPlugin : kImpl->sub_loader_->getDeclaredClasses() ) {
+  std::vector<std::string> transports;
+  if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
+  {
+    transports = kImpl->sub_loader_->getDeclaredClasses();
+  }
+  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
+  {
+    transports = kImpl_lifecycle->sub_loader_->getDeclaredClasses();
+  }
+  for (const std::string & transportPlugin : transports ) {
     // If the plugin loads without throwing an exception, add its
     // transport name to the list of valid plugins, otherwise ignore
     // it.
     try {
-      std::shared_ptr<image_transport::SubscriberPlugin> sub =
-        kImpl->sub_loader_->createUniqueInstance(transportPlugin);
+      std::shared_ptr<image_transport::SubscriberPlugin<NodeType>> sub;
+      if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
+      {
+        sub = kImpl->sub_loader_->createUniqueInstance(transportPlugin);
+      }
+      if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
+      {
+        sub = kImpl_lifecycle->sub_loader_->createUniqueInstance(transportPlugin);
+      }
       // Remove the "_sub" at the end of each class name.
       loadableTransports.push_back(erase_last_copy(transportPlugin, "_sub"));
     } catch (const pluginlib::LibraryLoadException & e) {
@@ -167,76 +245,76 @@ std::vector<std::string> getLoadableTransports()
   return loadableTransports;
 }
 
-struct ImageTransport::Impl
+template<class NodeType>
+struct ImageTransport<NodeType>::Impl
 {
-  rclcpp::Node::SharedPtr node_;
-  rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
+  explicit Impl(NodeType * node)
+  : node_(node)
+  {
+  }
+
+  explicit Impl(std::shared_ptr<NodeType> node)
+  : node_(node)
+  {
+  }
+
+  std::shared_ptr<NodeType> node_;
 };
 
-ImageTransport::ImageTransport(rclcpp::Node::SharedPtr node)
-: impl_(std::make_unique<ImageTransport::Impl>())
+template<class NodeType>
+ImageTransport<NodeType>::ImageTransport(NodeType * node)
+: impl_(std::make_unique<ImageTransport<NodeType>::Impl>(node))
 {
-  impl_->node_ = node;
 }
 
-ImageTransport::ImageTransport(rclcpp_lifecycle::LifecycleNode::SharedPtr node)
-: impl_(std::make_unique<ImageTransport::Impl>())
+template<class NodeType>
+ImageTransport<NodeType>::ImageTransport(std::shared_ptr<NodeType> node)
+: impl_(std::make_unique<ImageTransport<NodeType>::Impl>(node))
 {
-  impl_->lifecycle_node_ = node;
 }
 
-ImageTransport::~ImageTransport() = default;
+template<class NodeType>
+ImageTransport<NodeType>::~ImageTransport() = default;
 
-Publisher ImageTransport::advertise(const std::string & base_topic, uint32_t queue_size, bool latch)
+template<class NodeType>
+Publisher<NodeType> ImageTransport<NodeType>::advertise(const std::string & base_topic, uint32_t queue_size, bool latch)
 {
   // TODO(ros2) implement when resolved: https://github.com/ros2/ros2/issues/464
   (void) latch;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  if (impl_->node_) {
-    return create_publisher(impl_->node_, base_topic, custom_qos);
-  } else {
-    return create_publisher(impl_->lifecycle_node_, base_topic, custom_qos);
-  }
+  return create_publisher(impl_->node_, base_topic, custom_qos);
 }
 
-Publisher ImageTransport::advertise(
+template<class NodeType>
+Publisher<NodeType> ImageTransport<NodeType>::advertise(
   const std::string & base_topic, rmw_qos_profile_t custom_qos,
   bool latch)
 {
   // TODO(ros2) implement when resolved: https://github.com/ros2/ros2/issues/464
   (void) latch;
-  if (impl_->node_) {
-    return create_publisher(impl_->node_, base_topic, custom_qos);
-  } else {
-    return create_publisher(impl_->lifecycle_node_, base_topic, custom_qos);
-  }
+  return create_publisher(impl_->node_, base_topic, custom_qos);
 }
 
-Subscriber ImageTransport::subscribe(
+template<class NodeType>
+Subscriber<NodeType> ImageTransport<NodeType>::subscribe(
   const std::string & base_topic, rmw_qos_profile_t custom_qos,
-  const Subscriber::Callback & callback,
+  const typename Subscriber<NodeType>::Callback & callback,
   const VoidPtr & tracked_object,
   const TransportHints * transport_hints,
   const rclcpp::SubscriptionOptions options)
 {
   (void) tracked_object;
-  if (impl_->node_) {
-    return create_subscription(
-      impl_->node_, base_topic, callback,
-      getTransportOrDefault(transport_hints), custom_qos,
-      options);
-  } else {
-    return create_subscription(
-      impl_->lifecycle_node_, base_topic, callback,
-      getTransportOrDefault(transport_hints), custom_qos,
-      options);
-  }
+  return create_subscription(
+    impl_->node_, base_topic, callback,
+    getTransportOrDefault(transport_hints), custom_qos,
+    options);
 }
 
-Subscriber ImageTransport::subscribe(
+template<class NodeType>
+Subscriber<NodeType> ImageTransport<NodeType>::subscribe(
   const std::string & base_topic, uint32_t queue_size,
-  const Subscriber::Callback & callback,
+  const typename Subscriber<NodeType>::Callback & callback,
   const VoidPtr & tracked_object,
   const TransportHints * transport_hints,
   const rclcpp::SubscriptionOptions options)
@@ -244,20 +322,14 @@ Subscriber ImageTransport::subscribe(
   (void) tracked_object;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  if (impl_->node_) {
-    return create_subscription(
-      impl_->node_, base_topic, callback,
-      getTransportOrDefault(transport_hints), custom_qos,
-      options);
-  } else {
-    return create_subscription(
-      impl_->lifecycle_node_, base_topic, callback,
-      getTransportOrDefault(transport_hints), custom_qos,
-      options);
-  }
+  return create_subscription(
+    impl_->node_, base_topic, callback,
+    getTransportOrDefault(transport_hints), custom_qos,
+    options);
 }
 
-CameraPublisher ImageTransport::advertiseCamera(
+template<class NodeType>
+CameraPublisher<NodeType> ImageTransport<NodeType>::advertiseCamera(
   const std::string & base_topic, uint32_t queue_size,
   bool latch)
 {
@@ -265,54 +337,43 @@ CameraPublisher ImageTransport::advertiseCamera(
   (void) latch;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  if (impl_->node_) {
-    return create_camera_publisher(impl_->node_, base_topic, custom_qos);
-  } else {
-    return create_camera_publisher(impl_->lifecycle_node_, base_topic, custom_qos);
-  }
+  return create_camera_publisher(impl_->node_, base_topic, custom_qos);
 }
 
-CameraSubscriber ImageTransport::subscribeCamera(
+template<class NodeType>
+CameraSubscriber<NodeType> ImageTransport<NodeType>::subscribeCamera(
   const std::string & base_topic, uint32_t queue_size,
-  const CameraSubscriber::Callback & callback,
+  const typename CameraSubscriber<NodeType>::Callback & callback,
   const VoidPtr & tracked_object,
   const TransportHints * transport_hints)
 {
   (void) tracked_object;
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
   custom_qos.depth = queue_size;
-  if (impl_->node_) {
-    return create_camera_subscription(
-      impl_->node_, base_topic, callback,
-      getTransportOrDefault(transport_hints), custom_qos);
-  } else {
-    return create_camera_subscription(
-      impl_->lifecycle_node_, base_topic, callback,
-      getTransportOrDefault(transport_hints), custom_qos);
-  }
+  return create_camera_subscription(
+    impl_->node_, base_topic, callback,
+    getTransportOrDefault(transport_hints), custom_qos);
 }
 
-std::vector<std::string> ImageTransport::getDeclaredTransports() const
+template<class NodeType>
+std::vector<std::string> ImageTransport<NodeType>::getDeclaredTransports() const
 {
   return image_transport::getDeclaredTransports();
 }
 
-std::vector<std::string> ImageTransport::getLoadableTransports() const
+template<class NodeType>
+std::vector<std::string> ImageTransport<NodeType>::getLoadableTransports() const
 {
   return image_transport::getLoadableTransports();
 }
 
-std::string ImageTransport::getTransportOrDefault(const TransportHints * transport_hints)
+template<class NodeType>
+std::string ImageTransport<NodeType>::getTransportOrDefault(const TransportHints * transport_hints)
 {
   std::string ret;
   if (nullptr == transport_hints) {
-    if (impl_->node_) {
-      TransportHints th(impl_->node_);
-      ret = th.getTransport();
-    } else {
-      TransportHints th(impl_->lifecycle_node_);
-      ret = th.getTransport();
-    }
+    TransportHints th(impl_->node_);
+    ret = th.getTransport();
   } else {
     ret = transport_hints->getTransport();
   }
diff --git a/image_transport/src/list_transports.cpp b/image_transport/src/list_transports.cpp
index ac9748ce..63bf59c2 100644
--- a/image_transport/src/list_transports.cpp
+++ b/image_transport/src/list_transports.cpp
@@ -54,10 +54,14 @@ struct TransportDesc
 
 int main(int /*argc*/, char ** /*argv*/)
 {
-  pluginlib::ClassLoader<image_transport::PublisherPlugin> pub_loader(
-    "image_transport", "image_transport::PublisherPlugin");
-  pluginlib::ClassLoader<image_transport::SubscriberPlugin> sub_loader(
-    "image_transport", "image_transport::SubscriberPlugin");
+  pluginlib::ClassLoader<image_transport::PublisherPlugin<rclcpp::Node>> pub_loader(
+    "image_transport", "image_transport::PublisherPlugin<rclcpp::Node>");
+  pluginlib::ClassLoader<image_transport::PublisherPlugin<rclcpp_lifecycle::LifecycleNode>> pub_loader_lifecycle(
+    "image_transport", "image_transport::PublisherPlugin<rclcpp_lifecycle::LifecycleNode>");
+  pluginlib::ClassLoader<image_transport::SubscriberPlugin<rclcpp::Node>> sub_loader(
+    "image_transport", "image_transport::SubscriberPlugin<rclcpp::Node>");
+  pluginlib::ClassLoader<image_transport::SubscriberPlugin<rclcpp_lifecycle::LifecycleNode>> sub_loader_lifecycle(
+    "image_transport", "image_transport::SubscriberPlugin<rclcpp_lifecycle::LifecycleNode>");
   typedef std::map<std::string, TransportDesc> StatusMap;
   StatusMap transports;
 
@@ -75,6 +79,21 @@ int main(int /*argc*/, char ** /*argv*/)
     }
   }
 
+  StatusMap transports_lifecycle;
+  for (const std::string & lookup_name : pub_loader_lifecycle.getDeclaredClasses()) {
+    std::string transport_name = image_transport::erase_last_copy(lookup_name, "_pub");
+    transports_lifecycle[transport_name].pub_name = lookup_name;
+    transports_lifecycle[transport_name].package_name = pub_loader_lifecycle.getClassPackage(lookup_name);
+    try {
+      auto pub = pub_loader_lifecycle.createUniqueInstance(lookup_name);
+      transports_lifecycle[transport_name].pub_status = SUCCESS;
+    } catch (const pluginlib::LibraryLoadException &) {
+      transports_lifecycle[transport_name].pub_status = LIB_LOAD_FAILURE;
+    } catch (const pluginlib::CreateClassException &) {
+      transports_lifecycle[transport_name].pub_status = CREATE_FAILURE;
+    }
+  }
+
   for (const std::string & lookup_name : sub_loader.getDeclaredClasses()) {
     std::string transport_name = image_transport::erase_last_copy(lookup_name, "_sub");
     transports[transport_name].sub_name = lookup_name;
@@ -89,6 +108,21 @@ int main(int /*argc*/, char ** /*argv*/)
     }
   }
 
+
+  for (const std::string & lookup_name : sub_loader_lifecycle.getDeclaredClasses()) {
+    std::string transport_name = image_transport::erase_last_copy(lookup_name, "_sub");
+    transports_lifecycle[transport_name].sub_name = lookup_name;
+    transports_lifecycle[transport_name].package_name = sub_loader_lifecycle.getClassPackage(lookup_name);
+    try {
+      auto sub = sub_loader_lifecycle.createUniqueInstance(lookup_name);
+      transports_lifecycle[transport_name].sub_status = SUCCESS;
+    } catch (const pluginlib::LibraryLoadException &) {
+      transports_lifecycle[transport_name].sub_status = LIB_LOAD_FAILURE;
+    } catch (const pluginlib::CreateClassException &) {
+      transports_lifecycle[transport_name].sub_status = CREATE_FAILURE;
+    }
+  }
+
   printf("Declared transports:\n");
   for (const StatusMap::value_type & value : transports) {
     const TransportDesc & td = value.second;
@@ -126,5 +160,30 @@ int main(int /*argc*/, char ** /*argv*/)
     }
   }
 
+  printf("\nDetails Lifecycle:\n");
+  for (const auto & value : transports_lifecycle) {
+    const TransportDesc & td = value.second;
+    printf("----------\n");
+    printf("\"%s\"\n", value.first.c_str());
+    if (td.pub_status == CREATE_FAILURE || td.sub_status == CREATE_FAILURE) {
+      printf(
+        "*** Plugins are built, but could not be loaded. The package may need to be rebuilt or may "
+        "not be compatible with this release of image_common. ***\n");
+    } else if (td.pub_status == LIB_LOAD_FAILURE || td.sub_status == LIB_LOAD_FAILURE) {
+      printf("*** Plugins are not built. ***\n");
+    }
+    printf(" - Provided by package: %s\n", td.package_name.c_str());
+    if (td.pub_status == DOES_NOT_EXIST) {
+      printf(" - No publisher provided\n");
+    } else {
+      printf(" - Publisher: %s\n", pub_loader_lifecycle.getClassDescription(td.pub_name).c_str());
+    }
+    if (td.sub_status == DOES_NOT_EXIST) {
+      printf(" - No subscriber provided\n");
+    } else {
+      printf(" - Subscriber: %s\n", sub_loader_lifecycle.getClassDescription(td.sub_name).c_str());
+    }
+  }
+
   return 0;
 }
diff --git a/image_transport/src/manifest.cpp b/image_transport/src/manifest.cpp
index 0d1d78d6..e4202601 100644
--- a/image_transport/src/manifest.cpp
+++ b/image_transport/src/manifest.cpp
@@ -31,5 +31,7 @@
 #include "image_transport/raw_publisher.hpp"
 #include "image_transport/raw_subscriber.hpp"
 
-PLUGINLIB_EXPORT_CLASS(image_transport::RawPublisher, image_transport::PublisherPlugin)
-PLUGINLIB_EXPORT_CLASS(image_transport::RawSubscriber, image_transport::SubscriberPlugin)
+PLUGINLIB_EXPORT_CLASS(image_transport::RawPublisher<rclcpp::Node>, image_transport::PublisherPlugin<rclcpp::Node>)
+PLUGINLIB_EXPORT_CLASS(image_transport::RawPublisher<rclcpp_lifecycle::LifecycleNode>, image_transport::PublisherPlugin<rclcpp_lifecycle::LifecycleNode>)
+PLUGINLIB_EXPORT_CLASS(image_transport::RawSubscriber<rclcpp::Node>, image_transport::SubscriberPlugin<rclcpp::Node>)
+PLUGINLIB_EXPORT_CLASS(image_transport::RawSubscriber<rclcpp_lifecycle::LifecycleNode>, image_transport::SubscriberPlugin<rclcpp_lifecycle::LifecycleNode>)
diff --git a/image_transport/src/publisher.cpp b/image_transport/src/publisher.cpp
index cd214a8e..677bda5a 100644
--- a/image_transport/src/publisher.cpp
+++ b/image_transport/src/publisher.cpp
@@ -46,17 +46,21 @@
 namespace image_transport
 {
 
-struct Publisher::Impl
+template class Publisher<rclcpp::Node>;
+template class Publisher<rclcpp_lifecycle::LifecycleNode>;
+
+template<class NodeType>
+struct Publisher<NodeType>::Impl
 {
-  explicit Impl(rclcpp::Node::SharedPtr node)
+  explicit Impl(NodeType * node)
   : node_(node),
     logger_(node->get_logger()),
     unadvertised_(false)
   {
   }
 
-  explicit Impl(rclcpp_lifecycle::LifecycleNode::SharedPtr node)
-  : lifecycle_node_(node),
+  explicit Impl(std::shared_ptr<NodeType> node)
+  : node_(node),
     logger_(node->get_logger()),
     unadvertised_(false)
   {
@@ -97,36 +101,38 @@ struct Publisher::Impl
     }
   }
 
-  rclcpp::Node::SharedPtr node_;
-  rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
+  std::shared_ptr<NodeType> node_;
   rclcpp::Logger logger_;
   std::string base_topic_;
-  PubLoaderPtr loader_;
-  std::vector<std::shared_ptr<PublisherPlugin>> publishers_;
+  PubLoaderPtr<NodeType> loader_;
+  std::vector<std::shared_ptr<PublisherPlugin<NodeType>>> publishers_;
   bool unadvertised_;
 };
 
-Publisher::Publisher(
-  rclcpp::Node::SharedPtr node, const std::string & base_topic,
-  PubLoaderPtr loader, rmw_qos_profile_t custom_qos,
+template<class NodeType>
+Publisher<NodeType>::Publisher(
+  NodeType * node, const std::string & base_topic,
+  PubLoaderPtr<NodeType> loader, rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions options)
 : impl_(std::make_shared<Impl>(node))
 {
   initialise(base_topic, loader, custom_qos, options);
 }
 
-Publisher::Publisher(
-  rclcpp_lifecycle::LifecycleNode::SharedPtr node, const std::string & base_topic,
-  PubLoaderPtr loader, rmw_qos_profile_t custom_qos,
+template<class NodeType>
+Publisher<NodeType>::Publisher(
+  std::shared_ptr<NodeType> node, const std::string & base_topic,
+  PubLoaderPtr<NodeType> loader, rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions options)
 : impl_(std::make_shared<Impl>(node))
 {
   initialise(base_topic, loader, custom_qos, options);
 }
 
-void Publisher::initialise(
+template<class NodeType>
+void Publisher<NodeType>::initialise(
   const std::string & base_topic,
-  PubLoaderPtr loader, rmw_qos_profile_t custom_qos,
+  PubLoaderPtr<NodeType> loader, rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions options)
 {
   if (!impl_) {
@@ -136,15 +142,9 @@ void Publisher::initialise(
   // properly (#3652).
   std::string image_topic;
   size_t ns_len;
-  if (impl_->node_) {
-    image_topic = rclcpp::expand_topic_or_service_name(
-      base_topic, impl_->node_->get_name(), impl_->node_->get_namespace());
-    ns_len = impl_->node_->get_effective_namespace().length();
-  } else {
-    image_topic = rclcpp::expand_topic_or_service_name(
-      base_topic, impl_->lifecycle_node_->get_name(), impl_->lifecycle_node_->get_namespace());
-    ns_len = strlen(impl_->lifecycle_node_->get_namespace());
-  }
+  image_topic = rclcpp::expand_topic_or_service_name(
+    base_topic, impl_->node_->get_name(), impl_->node_->get_namespace());
+  ns_len = strlen(impl_->node_->get_namespace());
   impl_->base_topic_ = image_topic;
   impl_->loader_ = loader;
 
@@ -160,28 +160,16 @@ void Publisher::initialise(
     all_transport_names.emplace_back(erase_last_copy(lookup_name, "_pub"));
   }
   try {
-    if (impl_->node_) {
-      allowlist_vec = impl_->node_->declare_parameter<std::vector<std::string>>(
-        param_base_name + ".enable_pub_plugins", all_transport_names);
-    } else {
-      allowlist_vec = impl_->lifecycle_node_->declare_parameter<std::vector<std::string>>(
-        param_base_name + ".enable_pub_plugins", all_transport_names);
-    }
+    allowlist_vec = impl_->node_->template declare_parameter<std::vector<std::string>>(
+      param_base_name + ".enable_pub_plugins", all_transport_names);
   } catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
     RCLCPP_DEBUG_STREAM(
       impl_->logger_, param_base_name << ".enable_pub_plugins" << " was previously declared"
     );
-    if (impl_->node_) {
-      allowlist_vec =
-        impl_->node_->get_parameter(
-        param_base_name +
-        ".enable_pub_plugins").get_value<std::vector<std::string>>();
-    } else {
-      allowlist_vec =
-        impl_->lifecycle_node_->get_parameter(
-        param_base_name +
-        ".enable_pub_plugins").get_value<std::vector<std::string>>();
-    }
+    allowlist_vec =
+      impl_->node_->get_parameter(
+      param_base_name +
+      ".enable_pub_plugins").template get_value<std::vector<std::string>>();
   }
   for (size_t i = 0; i < allowlist_vec.size(); ++i) {
     allowlist.insert(allowlist_vec[i]);
@@ -191,11 +179,7 @@ void Publisher::initialise(
     const auto & lookup_name = transport_name + "_pub";
     try {
       auto pub = loader->createUniqueInstance(lookup_name);
-      if (impl_->node_) {
-        pub->advertise(impl_->node_, image_topic, custom_qos, options);
-      } else {
-        pub->advertise(impl_->lifecycle_node_, image_topic, custom_qos, options);
-      }
+      pub->advertise(impl_->node_, image_topic, custom_qos, options);
       impl_->publishers_.push_back(std::move(pub));
     } catch (const std::runtime_error & e) {
       RCLCPP_ERROR(
@@ -211,19 +195,22 @@ void Publisher::initialise(
   }
 }
 
-size_t Publisher::getNumSubscribers() const
+template<class NodeType>
+size_t Publisher<NodeType>::getNumSubscribers() const
 {
   if (impl_ && impl_->isValid()) {return impl_->getNumSubscribers();}
   return 0;
 }
 
-std::string Publisher::getTopic() const
+template<class NodeType>
+std::string Publisher<NodeType>::getTopic() const
 {
   if (impl_) {return impl_->getTopic();}
   return std::string();
 }
 
-void Publisher::publish(const sensor_msgs::msg::Image & message) const
+template<class NodeType>
+void Publisher<NodeType>::publish(const sensor_msgs::msg::Image & message) const
 {
   if (!impl_ || !impl_->isValid()) {
     // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
@@ -239,7 +226,8 @@ void Publisher::publish(const sensor_msgs::msg::Image & message) const
   }
 }
 
-void Publisher::publish(const sensor_msgs::msg::Image::ConstSharedPtr & message) const
+template<class NodeType>
+void Publisher<NodeType>::publish(const sensor_msgs::msg::Image::ConstSharedPtr & message) const
 {
   if (!impl_ || !impl_->isValid()) {
     // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
@@ -255,7 +243,8 @@ void Publisher::publish(const sensor_msgs::msg::Image::ConstSharedPtr & message)
   }
 }
 
-void Publisher::shutdown()
+template<class NodeType>
+void Publisher<NodeType>::shutdown()
 {
   if (impl_) {
     impl_->shutdown();
@@ -263,7 +252,8 @@ void Publisher::shutdown()
   }
 }
 
-Publisher::operator void *() const
+template<class NodeType>
+Publisher<NodeType>::operator void *() const
 {
   return (impl_ && impl_->isValid()) ? reinterpret_cast<void *>(1) : reinterpret_cast<void *>(0);
 }
diff --git a/image_transport/src/republish.cpp b/image_transport/src/republish.cpp
index cfe5e773..f9d9d569 100644
--- a/image_transport/src/republish.cpp
+++ b/image_transport/src/republish.cpp
@@ -113,9 +113,9 @@ void Republisher::initialize()
       rmw_qos_profile_default, pub_options);
 
     // Use Publisher::publish as the subscriber callback
-    typedef void (image_transport::Publisher::* PublishMemFn)(
+    typedef void (image_transport::Publisher<rclcpp::Node>::* PublishMemFn)(
       const sensor_msgs::msg::Image::ConstSharedPtr &) const;
-    PublishMemFn pub_mem_fn = &image_transport::Publisher::publish;
+    PublishMemFn pub_mem_fn = &image_transport::Publisher<rclcpp::Node>::publish;
 
     rclcpp::SubscriptionOptions sub_options;
     sub_options.qos_overriding_options = qos_override_options;
@@ -126,10 +126,10 @@ void Republisher::initialize()
   } else {
     // Use one specific transport for output
     // Load transport plugin
-    typedef image_transport::PublisherPlugin Plugin;
+    typedef image_transport::PublisherPlugin<rclcpp::Node> Plugin;
     loader = std::make_shared<pluginlib::ClassLoader<Plugin>>(
       "image_transport",
-      "image_transport::PublisherPlugin");
+      "image_transport::PublisherPlugin<rclcpp::Node>");
     std::string lookup_name = Plugin::getLookupName(out_transport);
 
     instance = loader->createUniqueInstance(lookup_name);
diff --git a/image_transport/src/subscriber.cpp b/image_transport/src/subscriber.cpp
index 06886890..79ee9f07 100644
--- a/image_transport/src/subscriber.cpp
+++ b/image_transport/src/subscriber.cpp
@@ -44,9 +44,13 @@
 namespace image_transport
 {
 
-struct Subscriber::Impl
+template class Subscriber<rclcpp::Node>;
+template class Subscriber<rclcpp_lifecycle::LifecycleNode>;
+
+template<class NodeType>
+struct Subscriber<NodeType>::Impl
 {
-  Impl(rclcpp::Node::SharedPtr node, SubLoaderPtr loader)
+  Impl(NodeType * node, SubLoaderPtr<NodeType> loader)
   : node_(node),
     logger_(node->get_logger()),
     loader_(loader),
@@ -54,8 +58,8 @@ struct Subscriber::Impl
   {
   }
 
-  explicit Impl(rclcpp_lifecycle::LifecycleNode::SharedPtr node, SubLoaderPtr loader)
-  : lifecycle_node_(node),
+  explicit Impl(std::shared_ptr<NodeType> node, SubLoaderPtr<NodeType> loader)
+  : node_(node),
     logger_(node->get_logger()),
     loader_(loader),
     unsubscribed_(false)
@@ -82,21 +86,21 @@ struct Subscriber::Impl
     }
   }
 
-  rclcpp::Node::SharedPtr node_;
-  rclcpp_lifecycle::LifecycleNode::SharedPtr lifecycle_node_;
+  std::shared_ptr<NodeType> node_;
   rclcpp::Logger logger_;
   std::string lookup_name_;
-  SubLoaderPtr loader_;
-  std::shared_ptr<SubscriberPlugin> subscriber_;
+  SubLoaderPtr<NodeType> loader_;
+  std::shared_ptr<SubscriberPlugin<NodeType>> subscriber_;
   bool unsubscribed_;
   // double constructed_;
 };
 
-Subscriber::Subscriber(
-  rclcpp::Node::SharedPtr node,
+template<class NodeType>
+Subscriber<NodeType>::Subscriber(
+  NodeType * node,
   const std::string & base_topic,
   const Callback & callback,
-  SubLoaderPtr loader,
+  SubLoaderPtr<NodeType> loader,
   const std::string & transport,
   rmw_qos_profile_t custom_qos,
   rclcpp::SubscriptionOptions options)
@@ -105,11 +109,12 @@ Subscriber::Subscriber(
   initialise(base_topic, callback, transport, custom_qos, options);
 }
 
-Subscriber::Subscriber(
-  rclcpp_lifecycle::LifecycleNode::SharedPtr node,
+template<class NodeType>
+Subscriber<NodeType>::Subscriber(
+  std::shared_ptr<NodeType> node,
   const std::string & base_topic,
   const Callback & callback,
-  SubLoaderPtr loader,
+  SubLoaderPtr<NodeType> loader,
   const std::string & transport,
   rmw_qos_profile_t custom_qos,
   rclcpp::SubscriptionOptions options)
@@ -118,7 +123,8 @@ Subscriber::Subscriber(
   initialise(base_topic, callback, transport, custom_qos, options);
 }
 
-void Subscriber::initialise(
+template<class NodeType>
+void Subscriber<NodeType>::initialise(
   const std::string & base_topic,
   const Callback & callback,
   const std::string & transport,
@@ -129,7 +135,7 @@ void Subscriber::initialise(
     throw std::runtime_error("impl is not constructed!");
   }
   // Load the plugin for the chosen transport.
-  impl_->lookup_name_ = SubscriberPlugin::getLookupName(transport);
+  impl_->lookup_name_ = SubscriberPlugin<NodeType>::getLookupName(transport);
   try {
     impl_->subscriber_ = impl_->loader_->createSharedInstance(impl_->lookup_name_);
   } catch (pluginlib::PluginlibException & e) {
@@ -144,7 +150,7 @@ void Subscriber::initialise(
   size_t found = clean_topic.rfind('/');
   if (found != std::string::npos) {
     std::string transport = clean_topic.substr(found + 1);
-    std::string plugin_name = SubscriberPlugin::getLookupName(transport);
+    std::string plugin_name = SubscriberPlugin<NodeType>::getLookupName(transport);
     std::vector<std::string> plugins = impl_->loader_->getDeclaredClasses();
     if (std::find(plugins.begin(), plugins.end(), plugin_name) != plugins.end()) {
       std::string real_base_topic = clean_topic.substr(0, found);
@@ -162,38 +168,38 @@ void Subscriber::initialise(
 
   // Tell plugin to subscribe.
   RCLCPP_DEBUG(impl_->logger_, "Subscribing to: %s\n", base_topic.c_str());
-  if (impl_->node_) {
-    impl_->subscriber_->subscribe(impl_->node_, base_topic, callback, custom_qos, options);
-  } else {
-    impl_->subscriber_->subscribe(
-      impl_->lifecycle_node_, base_topic, callback, custom_qos, options);
-  }
+  impl_->subscriber_->subscribe(impl_->node_, base_topic, callback, custom_qos, options);
 }
 
-std::string Subscriber::getTopic() const
+template<class NodeType>
+std::string Subscriber<NodeType>::getTopic() const
 {
   if (impl_) {return impl_->subscriber_->getTopic();}
   return std::string();
 }
 
-size_t Subscriber::getNumPublishers() const
+template<class NodeType>
+size_t Subscriber<NodeType>::getNumPublishers() const
 {
   if (impl_) {return impl_->subscriber_->getNumPublishers();}
   return 0;
 }
 
-std::string Subscriber::getTransport() const
+template<class NodeType>
+std::string Subscriber<NodeType>::getTransport() const
 {
   if (impl_) {return impl_->subscriber_->getTransportName();}
   return std::string();
 }
 
-void Subscriber::shutdown()
+template<class NodeType>
+void Subscriber<NodeType>::shutdown()
 {
   if (impl_) {impl_->shutdown();}
 }
 
-Subscriber::operator void *() const
+template<class NodeType>
+Subscriber<NodeType>::operator void *() const
 {
   return (impl_ && impl_->isValid()) ? reinterpret_cast<void *>(1) : reinterpret_cast<void *>(0);
 }

From d58fdf81c3aab81fc4503a07a72a8159e776f645 Mon Sep 17 00:00:00 2001
From: Benjamin-Tan <tan.benjaminkx@gmail.com>
Date: Sun, 21 Apr 2024 22:10:55 +0800
Subject: [PATCH 08/14] Fix formatting, linting error

---
 image_transport/default_plugins.xml           | 16 ++--
 .../image_transport/image_transport.hpp       |  3 +-
 .../include/image_transport/raw_publisher.hpp |  5 +-
 image_transport/src/image_transport.cpp       | 80 ++++++++++---------
 image_transport/src/list_transports.cpp       | 12 ++-
 image_transport/src/manifest.cpp              | 16 +++-
 6 files changed, 76 insertions(+), 56 deletions(-)

diff --git a/image_transport/default_plugins.xml b/image_transport/default_plugins.xml
index 750da371..fb3e1569 100644
--- a/image_transport/default_plugins.xml
+++ b/image_transport/default_plugins.xml
@@ -1,8 +1,8 @@
 <library path="image_transport_plugins">
   <class
     name="image_transport/raw_pub"
-    type="image_transport::RawPublisher<rclcpp::Node>"
-    base_class_type="image_transport::PublisherPlugin<rclcpp::Node>">
+    type="image_transport::RawPublisher&lt;rclcpp::Node&gt;"
+    base_class_type="image_transport::PublisherPlugin&lt;rclcpp::Node&gt;">
     <description>
       This is the default publisher. It publishes the Image as-is on the base topic.
     </description>
@@ -10,8 +10,8 @@
 
   <class
     name="image_transport/raw_lifecycle_pub"
-    type="image_transport::RawPublisher<rclcpp_lifecycle::LifecycleNode>"
-    base_class_type="image_transport::PublisherPlugin<rclcpp_lifecycle::LifecycleNode>">
+    type="image_transport::RawPublisher&lt;rclcpp_lifecycle::LifecycleNode&gt;"
+    base_class_type="image_transport::PublisherPlugin&lt;rclcpp_lifecycle::LifecycleNode&gt;">
     <description>
       This is the default publisher. It publishes the Image as-is on the base topic.
     </description>
@@ -19,8 +19,8 @@
 
   <class
     name="image_transport/raw_sub"
-    type="image_transport::RawSubscriber<rclcpp::Node>"
-    base_class_type="image_transport::SubscriberPlugin<rclcpp::Node>">
+    type="image_transport::RawSubscriber&lt;rclcpp::Node&gt;"
+    base_class_type="image_transport::SubscriberPlugin&lt;rclcpp::Node&gt;">
     <description>
       This is the default pass-through subscriber for topics of type sensor_msgs/Image.
     </description>
@@ -28,8 +28,8 @@
 
   <class
     name="image_transport/raw_lifecycle_sub"
-    type="image_transport::RawSubscriber<rclcpp_lifecycle::LifecycleNode>"
-    base_class_type="image_transport::SubscriberPlugin<rclcpp_lifecycle::LifecycleNode>">
+    type="image_transport::RawSubscriber&lt;rclcpp_lifecycle::LifecycleNode&gt;"
+    base_class_type="image_transport::SubscriberPlugin&lt;rclcpp_lifecycle::LifecycleNode&gt;">
     <description>
       This is the default pass-through subscriber for topics of type sensor_msgs/Image.
     </description>
diff --git a/image_transport/include/image_transport/image_transport.hpp b/image_transport/include/image_transport/image_transport.hpp
index 92df2276..5742bbe9 100644
--- a/image_transport/include/image_transport/image_transport.hpp
+++ b/image_transport/include/image_transport/image_transport.hpp
@@ -164,7 +164,8 @@ class ImageTransport
    * \brief Advertise an image topic, simple version.
    */
   IMAGE_TRANSPORT_PUBLIC
-  Publisher<NodeType> advertise(const std::string & base_topic, uint32_t queue_size, bool latch = false);
+  Publisher<NodeType> advertise(
+    const std::string & base_topic, uint32_t queue_size, bool latch = false);
 
   /*!
    * \brief Advertise an image topic, simple version.
diff --git a/image_transport/include/image_transport/raw_publisher.hpp b/image_transport/include/image_transport/raw_publisher.hpp
index c9d07125..854edbda 100644
--- a/image_transport/include/image_transport/raw_publisher.hpp
+++ b/image_transport/include/image_transport/raw_publisher.hpp
@@ -58,7 +58,10 @@ class RawPublisher : public SimplePublisherPlugin<sensor_msgs::msg::Image, NodeT
   }
 
 protected:
-  virtual void publish(const sensor_msgs::msg::Image & message, const typename SimplePublisherPlugin<sensor_msgs::msg::Image, NodeType>::PublishFn & publish_fn) const
+  virtual void publish(
+    const sensor_msgs::msg::Image & message,
+    const typename SimplePublisherPlugin<sensor_msgs::msg::Image,
+    NodeType>::PublishFn & publish_fn) const
   {
     publish_fn(message);
   }
diff --git a/image_transport/src/image_transport.cpp b/image_transport/src/image_transport.cpp
index 53e5edfe..0ca5858b 100644
--- a/image_transport/src/image_transport.cpp
+++ b/image_transport/src/image_transport.cpp
@@ -52,8 +52,12 @@ struct Impl
   SubLoaderPtr<rclcpp::Node> sub_loader_;
 
   Impl()
-  : pub_loader_(std::make_shared<PubLoader<rclcpp::Node>>("image_transport", "image_transport::PublisherPlugin<rclcpp::Node>")),
-    sub_loader_(std::make_shared<SubLoader<rclcpp::Node>>("image_transport", "image_transport::SubscriberPlugin<rclcpp::Node>"))
+  : pub_loader_(std::make_shared<PubLoader<rclcpp::Node>>(
+        "image_transport",
+        "image_transport::PublisherPlugin<rclcpp::Node>")),
+    sub_loader_(std::make_shared<SubLoader<rclcpp::Node>>(
+        "image_transport",
+        "image_transport::SubscriberPlugin<rclcpp::Node>"))
   {
   }
 };
@@ -64,8 +68,12 @@ struct ImplLifecycle
   SubLoaderPtr<rclcpp_lifecycle::LifecycleNode> sub_loader_;
 
   ImplLifecycle()
-  : pub_loader_(std::make_shared<PubLoader<rclcpp_lifecycle::LifecycleNode>>("image_transport", "image_transport::PublisherPlugin<rclcpp_lifecycle::LifecycleNode>")),
-    sub_loader_(std::make_shared<SubLoader<rclcpp_lifecycle::LifecycleNode>>("image_transport", "image_transport::SubscriberPlugin<rclcpp_lifecycle::LifecycleNode>"))
+  : pub_loader_(std::make_shared<PubLoader<rclcpp_lifecycle::LifecycleNode>>(
+        "image_transport",
+        "image_transport::PublisherPlugin<rclcpp_lifecycle::LifecycleNode>")),
+    sub_loader_(std::make_shared<SubLoader<rclcpp_lifecycle::LifecycleNode>>(
+        "image_transport",
+        "image_transport::SubscriberPlugin<rclcpp_lifecycle::LifecycleNode>"))
   {
   }
 };
@@ -80,12 +88,10 @@ Publisher<NodeType> create_publisher(
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions options)
 {
-  if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
-  {
+  if constexpr (std::is_same_v<NodeType, rclcpp::Node>) {
     return Publisher(node, base_topic, kImpl->pub_loader_, custom_qos, options);
   }
-  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
-  {
+  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>) {
     return Publisher(node, base_topic, kImpl_lifecycle->pub_loader_, custom_qos, options);
   }
 }
@@ -97,12 +103,10 @@ Publisher<NodeType> create_publisher(
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions options)
 {
-  if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
-  {
+  if constexpr (std::is_same_v<NodeType, rclcpp::Node>) {
     return Publisher(node, base_topic, kImpl->pub_loader_, custom_qos, options);
   }
-  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
-  {
+  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>) {
     return Publisher(node, base_topic, kImpl_lifecycle->pub_loader_, custom_qos, options);
   }
 }
@@ -116,13 +120,15 @@ Subscriber<NodeType> create_subscription(
   rmw_qos_profile_t custom_qos,
   rclcpp::SubscriptionOptions options)
 {
-  if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
-  {
-    return Subscriber(node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos, options);
+  if constexpr (std::is_same_v<NodeType, rclcpp::Node>) {
+    return Subscriber(
+      node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos,
+      options);
   }
-  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
-  {
-    return Subscriber(node, base_topic, callback, kImpl_lifecycle->sub_loader_, transport + "_lifecycle", custom_qos, options);
+  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>) {
+    return Subscriber(
+      node, base_topic, callback, kImpl_lifecycle->sub_loader_,
+      transport + "_lifecycle", custom_qos, options);
   }
 }
 
@@ -135,13 +141,15 @@ Subscriber<NodeType> create_subscription(
   rmw_qos_profile_t custom_qos,
   rclcpp::SubscriptionOptions options)
 {
-  if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
-  {
-    return Subscriber(node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos, options);
+  if constexpr (std::is_same_v<NodeType, rclcpp::Node>) {
+    return Subscriber(
+      node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos,
+      options);
   }
-  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
-  {
-    return Subscriber(node, base_topic, callback, kImpl_lifecycle->sub_loader_, transport + "_lifecycle", custom_qos, options);
+  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>) {
+    return Subscriber(
+      node, base_topic, callback, kImpl_lifecycle->sub_loader_,
+      transport + "_lifecycle", custom_qos, options);
   }
 }
 
@@ -191,12 +199,10 @@ template<class NodeType>
 std::vector<std::string> getDeclaredTransports()
 {
   std::vector<std::string> transports;
-  if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
-  {
+  if constexpr (std::is_same_v<NodeType, rclcpp::Node>) {
     transports = kImpl->sub_loader_->getDeclaredClasses();
   }
-  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
-  {
+  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>) {
     transports = kImpl_lifecycle->sub_loader_->getDeclaredClasses();
   }
   // Remove the "_sub" at the end of each class name.
@@ -211,26 +217,22 @@ std::vector<std::string> getLoadableTransports()
 {
   std::vector<std::string> loadableTransports;
   std::vector<std::string> transports;
-  if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
-  {
+  if constexpr (std::is_same_v<NodeType, rclcpp::Node>) {
     transports = kImpl->sub_loader_->getDeclaredClasses();
   }
-  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
-  {
+  if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>) {
     transports = kImpl_lifecycle->sub_loader_->getDeclaredClasses();
   }
-  for (const std::string & transportPlugin : transports ) {
+  for (const std::string & transportPlugin : transports) {
     // If the plugin loads without throwing an exception, add its
     // transport name to the list of valid plugins, otherwise ignore
     // it.
     try {
       std::shared_ptr<image_transport::SubscriberPlugin<NodeType>> sub;
-      if constexpr (std::is_same_v<NodeType, rclcpp::Node>)
-      {
+      if constexpr (std::is_same_v<NodeType, rclcpp::Node>) {
         sub = kImpl->sub_loader_->createUniqueInstance(transportPlugin);
       }
-      if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>)
-      {
+      if constexpr (std::is_same_v<NodeType, rclcpp_lifecycle::LifecycleNode>) {
         sub = kImpl_lifecycle->sub_loader_->createUniqueInstance(transportPlugin);
       }
       // Remove the "_sub" at the end of each class name.
@@ -277,7 +279,9 @@ template<class NodeType>
 ImageTransport<NodeType>::~ImageTransport() = default;
 
 template<class NodeType>
-Publisher<NodeType> ImageTransport<NodeType>::advertise(const std::string & base_topic, uint32_t queue_size, bool latch)
+Publisher<NodeType> ImageTransport<NodeType>::advertise(
+  const std::string & base_topic,
+  uint32_t queue_size, bool latch)
 {
   // TODO(ros2) implement when resolved: https://github.com/ros2/ros2/issues/464
   (void) latch;
diff --git a/image_transport/src/list_transports.cpp b/image_transport/src/list_transports.cpp
index 63bf59c2..dbcc5580 100644
--- a/image_transport/src/list_transports.cpp
+++ b/image_transport/src/list_transports.cpp
@@ -56,11 +56,13 @@ int main(int /*argc*/, char ** /*argv*/)
 {
   pluginlib::ClassLoader<image_transport::PublisherPlugin<rclcpp::Node>> pub_loader(
     "image_transport", "image_transport::PublisherPlugin<rclcpp::Node>");
-  pluginlib::ClassLoader<image_transport::PublisherPlugin<rclcpp_lifecycle::LifecycleNode>> pub_loader_lifecycle(
+  pluginlib::ClassLoader<image_transport::PublisherPlugin<rclcpp_lifecycle::LifecycleNode>>
+  pub_loader_lifecycle(
     "image_transport", "image_transport::PublisherPlugin<rclcpp_lifecycle::LifecycleNode>");
   pluginlib::ClassLoader<image_transport::SubscriberPlugin<rclcpp::Node>> sub_loader(
     "image_transport", "image_transport::SubscriberPlugin<rclcpp::Node>");
-  pluginlib::ClassLoader<image_transport::SubscriberPlugin<rclcpp_lifecycle::LifecycleNode>> sub_loader_lifecycle(
+  pluginlib::ClassLoader<image_transport::SubscriberPlugin<rclcpp_lifecycle::LifecycleNode>>
+  sub_loader_lifecycle(
     "image_transport", "image_transport::SubscriberPlugin<rclcpp_lifecycle::LifecycleNode>");
   typedef std::map<std::string, TransportDesc> StatusMap;
   StatusMap transports;
@@ -83,7 +85,8 @@ int main(int /*argc*/, char ** /*argv*/)
   for (const std::string & lookup_name : pub_loader_lifecycle.getDeclaredClasses()) {
     std::string transport_name = image_transport::erase_last_copy(lookup_name, "_pub");
     transports_lifecycle[transport_name].pub_name = lookup_name;
-    transports_lifecycle[transport_name].package_name = pub_loader_lifecycle.getClassPackage(lookup_name);
+    transports_lifecycle[transport_name].package_name = pub_loader_lifecycle.getClassPackage(
+      lookup_name);
     try {
       auto pub = pub_loader_lifecycle.createUniqueInstance(lookup_name);
       transports_lifecycle[transport_name].pub_status = SUCCESS;
@@ -112,7 +115,8 @@ int main(int /*argc*/, char ** /*argv*/)
   for (const std::string & lookup_name : sub_loader_lifecycle.getDeclaredClasses()) {
     std::string transport_name = image_transport::erase_last_copy(lookup_name, "_sub");
     transports_lifecycle[transport_name].sub_name = lookup_name;
-    transports_lifecycle[transport_name].package_name = sub_loader_lifecycle.getClassPackage(lookup_name);
+    transports_lifecycle[transport_name].package_name = sub_loader_lifecycle.getClassPackage(
+      lookup_name);
     try {
       auto sub = sub_loader_lifecycle.createUniqueInstance(lookup_name);
       transports_lifecycle[transport_name].sub_status = SUCCESS;
diff --git a/image_transport/src/manifest.cpp b/image_transport/src/manifest.cpp
index e4202601..c588c3ec 100644
--- a/image_transport/src/manifest.cpp
+++ b/image_transport/src/manifest.cpp
@@ -31,7 +31,15 @@
 #include "image_transport/raw_publisher.hpp"
 #include "image_transport/raw_subscriber.hpp"
 
-PLUGINLIB_EXPORT_CLASS(image_transport::RawPublisher<rclcpp::Node>, image_transport::PublisherPlugin<rclcpp::Node>)
-PLUGINLIB_EXPORT_CLASS(image_transport::RawPublisher<rclcpp_lifecycle::LifecycleNode>, image_transport::PublisherPlugin<rclcpp_lifecycle::LifecycleNode>)
-PLUGINLIB_EXPORT_CLASS(image_transport::RawSubscriber<rclcpp::Node>, image_transport::SubscriberPlugin<rclcpp::Node>)
-PLUGINLIB_EXPORT_CLASS(image_transport::RawSubscriber<rclcpp_lifecycle::LifecycleNode>, image_transport::SubscriberPlugin<rclcpp_lifecycle::LifecycleNode>)
+PLUGINLIB_EXPORT_CLASS(
+  image_transport::RawPublisher<rclcpp::Node>,
+  image_transport::PublisherPlugin<rclcpp::Node>)
+PLUGINLIB_EXPORT_CLASS(
+  image_transport::RawPublisher<rclcpp_lifecycle::LifecycleNode>,
+  image_transport::PublisherPlugin<rclcpp_lifecycle::LifecycleNode>)
+PLUGINLIB_EXPORT_CLASS(
+  image_transport::RawSubscriber<rclcpp::Node>,
+  image_transport::SubscriberPlugin<rclcpp::Node>)
+PLUGINLIB_EXPORT_CLASS(
+  image_transport::RawSubscriber<rclcpp_lifecycle::LifecycleNode>,
+  image_transport::SubscriberPlugin<rclcpp_lifecycle::LifecycleNode>)

From 9bf1b8f481fa30353b1b5b4e4cfe248076cf21a9 Mon Sep 17 00:00:00 2001
From: Benjamin-Tan <tan.benjaminkx@gmail.com>
Date: Sun, 21 Apr 2024 22:15:51 +0800
Subject: [PATCH 09/14] Use raw pointer instead of unique ptr to workaround
 segfault, similar to the initial implementation

---
 image_transport/src/image_transport.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/image_transport/src/image_transport.cpp b/image_transport/src/image_transport.cpp
index 0ca5858b..cecbf286 100644
--- a/image_transport/src/image_transport.cpp
+++ b/image_transport/src/image_transport.cpp
@@ -78,8 +78,8 @@ struct ImplLifecycle
   }
 };
 
-static std::unique_ptr<Impl> kImpl = std::make_unique<Impl>();
-static std::unique_ptr<ImplLifecycle> kImpl_lifecycle = std::make_unique<ImplLifecycle>();
+static Impl * kImpl = new Impl();
+static ImplLifecycle * kImpl_lifecycle = new ImplLifecycle();
 
 template<class NodeType>
 Publisher<NodeType> create_publisher(

From 13fb1350e435451df95ee2ea1037ffda0746c161 Mon Sep 17 00:00:00 2001
From: Benjamin-Tan <tan.benjaminkx@gmail.com>
Date: Mon, 22 Apr 2024 22:15:17 +0800
Subject: [PATCH 10/14] Fix undefined reference when using clang

---
 image_transport/src/camera_publisher.cpp  | 6 +++---
 image_transport/src/camera_subscriber.cpp | 6 +++---
 image_transport/src/image_transport.cpp   | 7 +++----
 image_transport/src/publisher.cpp         | 6 +++---
 image_transport/src/subscriber.cpp        | 6 +++---
 5 files changed, 15 insertions(+), 16 deletions(-)

diff --git a/image_transport/src/camera_publisher.cpp b/image_transport/src/camera_publisher.cpp
index b1569c96..bc708573 100644
--- a/image_transport/src/camera_publisher.cpp
+++ b/image_transport/src/camera_publisher.cpp
@@ -41,9 +41,6 @@
 namespace image_transport
 {
 
-template class CameraPublisher<rclcpp::Node>;
-template class CameraPublisher<rclcpp_lifecycle::LifecycleNode>;
-
 template<class NodeType>
 struct CameraPublisher<NodeType>::Impl
 {
@@ -234,3 +231,6 @@ CameraPublisher<NodeType>::operator void *() const
 }
 
 }  // namespace image_transport
+
+template class image_transport::CameraPublisher<rclcpp::Node>;
+template class image_transport::CameraPublisher<rclcpp_lifecycle::LifecycleNode>;
diff --git a/image_transport/src/camera_subscriber.cpp b/image_transport/src/camera_subscriber.cpp
index 740499a8..825bcc89 100644
--- a/image_transport/src/camera_subscriber.cpp
+++ b/image_transport/src/camera_subscriber.cpp
@@ -45,9 +45,6 @@ inline void increment(int * value)
 namespace image_transport
 {
 
-template class CameraSubscriber<rclcpp::Node>;
-template class CameraSubscriber<rclcpp_lifecycle::LifecycleNode>;
-
 template<class NodeType>
 struct CameraSubscriber<NodeType>::Impl
 {
@@ -231,3 +228,6 @@ CameraSubscriber<NodeType>::operator void *() const
 }
 
 }  // namespace image_transport
+
+template class image_transport::CameraSubscriber<rclcpp::Node>;
+template class image_transport::CameraSubscriber<rclcpp_lifecycle::LifecycleNode>;
diff --git a/image_transport/src/image_transport.cpp b/image_transport/src/image_transport.cpp
index cecbf286..e4014eab 100644
--- a/image_transport/src/image_transport.cpp
+++ b/image_transport/src/image_transport.cpp
@@ -42,10 +42,6 @@
 namespace image_transport
 {
 
-template class ImageTransport<rclcpp::Node>;
-template class ImageTransport<rclcpp_lifecycle::LifecycleNode>;
-
-
 struct Impl
 {
   PubLoaderPtr<rclcpp::Node> pub_loader_;
@@ -385,3 +381,6 @@ std::string ImageTransport<NodeType>::getTransportOrDefault(const TransportHints
 }
 
 }  // namespace image_transport
+
+template class image_transport::ImageTransport<rclcpp::Node>;
+template class image_transport::ImageTransport<rclcpp_lifecycle::LifecycleNode>;
diff --git a/image_transport/src/publisher.cpp b/image_transport/src/publisher.cpp
index 677bda5a..f88f9f4c 100644
--- a/image_transport/src/publisher.cpp
+++ b/image_transport/src/publisher.cpp
@@ -46,9 +46,6 @@
 namespace image_transport
 {
 
-template class Publisher<rclcpp::Node>;
-template class Publisher<rclcpp_lifecycle::LifecycleNode>;
-
 template<class NodeType>
 struct Publisher<NodeType>::Impl
 {
@@ -259,3 +256,6 @@ Publisher<NodeType>::operator void *() const
 }
 
 }  // namespace image_transport
+
+template class image_transport::Publisher<rclcpp::Node>;
+template class image_transport::Publisher<rclcpp_lifecycle::LifecycleNode>;
diff --git a/image_transport/src/subscriber.cpp b/image_transport/src/subscriber.cpp
index 79ee9f07..a8c2298d 100644
--- a/image_transport/src/subscriber.cpp
+++ b/image_transport/src/subscriber.cpp
@@ -44,9 +44,6 @@
 namespace image_transport
 {
 
-template class Subscriber<rclcpp::Node>;
-template class Subscriber<rclcpp_lifecycle::LifecycleNode>;
-
 template<class NodeType>
 struct Subscriber<NodeType>::Impl
 {
@@ -205,3 +202,6 @@ Subscriber<NodeType>::operator void *() const
 }
 
 }  // namespace image_transport
+
+template class image_transport::Subscriber<rclcpp::Node>;
+template class image_transport::Subscriber<rclcpp_lifecycle::LifecycleNode>;

From 07b7bc7630b8e5b6e0e763f2b72b3d19af39a772 Mon Sep 17 00:00:00 2001
From: Benjamin Tan <tan.benjaminkx@gmail.com>
Date: Mon, 20 May 2024 21:50:51 +0800
Subject: [PATCH 11/14] Update copyright to 2024

---
 image_transport/include/image_transport/visibility_control.hpp  | 2 +-
 image_transport/test/test_camera_common.cpp                     | 2 +-
 image_transport/test/test_message_passing.cpp                   | 2 +-
 image_transport/test/test_message_passing_lifecycle.cpp         | 2 +-
 image_transport/test/test_publisher.cpp                         | 2 +-
 image_transport/test/test_publisher_lifecycle.cpp               | 2 +-
 image_transport/test/test_qos_override.cpp                      | 2 +-
 image_transport/test/test_qos_override_lifecycle.cpp            | 2 +-
 image_transport/test/test_remapping.cpp                         | 2 +-
 image_transport/test/test_remapping_lifecycle.cpp               | 2 +-
 image_transport/test/test_single_subscriber_publisher.cpp       | 2 +-
 .../test/test_single_subscriber_publisher_lifecycle.cpp         | 2 +-
 image_transport/test/test_subscriber.cpp                        | 2 +-
 image_transport/test/test_subscriber_lifecycle.cpp              | 2 +-
 14 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/image_transport/include/image_transport/visibility_control.hpp b/image_transport/include/image_transport/visibility_control.hpp
index 2f590311..62e23f9f 100644
--- a/image_transport/include/image_transport/visibility_control.hpp
+++ b/image_transport/include/image_transport/visibility_control.hpp
@@ -1,4 +1,4 @@
-// Copyright 2018 Open Source Robotics Foundation, Inc.
+// Copyright 2024 Open Source Robotics Foundation, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
diff --git a/image_transport/test/test_camera_common.cpp b/image_transport/test/test_camera_common.cpp
index 89f61c2e..e769307e 100644
--- a/image_transport/test/test_camera_common.cpp
+++ b/image_transport/test/test_camera_common.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+// Copyright (c) 2024 Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
diff --git a/image_transport/test/test_message_passing.cpp b/image_transport/test/test_message_passing.cpp
index e5a0c8de..fbed57d0 100644
--- a/image_transport/test/test_message_passing.cpp
+++ b/image_transport/test/test_message_passing.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+// Copyright (c) 2024 Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
diff --git a/image_transport/test/test_message_passing_lifecycle.cpp b/image_transport/test/test_message_passing_lifecycle.cpp
index a1f4a888..af29b71f 100644
--- a/image_transport/test/test_message_passing_lifecycle.cpp
+++ b/image_transport/test/test_message_passing_lifecycle.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+// Copyright (c) 2024 Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
diff --git a/image_transport/test/test_publisher.cpp b/image_transport/test/test_publisher.cpp
index 6cd12454..375c597a 100644
--- a/image_transport/test/test_publisher.cpp
+++ b/image_transport/test/test_publisher.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+// Copyright (c) 2024 Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
diff --git a/image_transport/test/test_publisher_lifecycle.cpp b/image_transport/test/test_publisher_lifecycle.cpp
index ab33fe6a..68f840df 100644
--- a/image_transport/test/test_publisher_lifecycle.cpp
+++ b/image_transport/test/test_publisher_lifecycle.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+// Copyright (c) 2024 Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
diff --git a/image_transport/test/test_qos_override.cpp b/image_transport/test/test_qos_override.cpp
index 4f26e6fe..574f57da 100644
--- a/image_transport/test/test_qos_override.cpp
+++ b/image_transport/test/test_qos_override.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2022 Open Source Robotics Foundation, Inc.
+// Copyright (c) 2024 Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
diff --git a/image_transport/test/test_qos_override_lifecycle.cpp b/image_transport/test/test_qos_override_lifecycle.cpp
index 9ed2c0c1..6413f966 100644
--- a/image_transport/test/test_qos_override_lifecycle.cpp
+++ b/image_transport/test/test_qos_override_lifecycle.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2022 Open Source Robotics Foundation, Inc.
+// Copyright (c) 2024 Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
diff --git a/image_transport/test/test_remapping.cpp b/image_transport/test/test_remapping.cpp
index 1345af56..b348c2b7 100644
--- a/image_transport/test/test_remapping.cpp
+++ b/image_transport/test/test_remapping.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+// Copyright (c) 2024 Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
diff --git a/image_transport/test/test_remapping_lifecycle.cpp b/image_transport/test/test_remapping_lifecycle.cpp
index 26829b2a..3b9dc46c 100644
--- a/image_transport/test/test_remapping_lifecycle.cpp
+++ b/image_transport/test/test_remapping_lifecycle.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+// Copyright (c) 2024 Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
diff --git a/image_transport/test/test_single_subscriber_publisher.cpp b/image_transport/test/test_single_subscriber_publisher.cpp
index f2137d3a..2bebc5df 100644
--- a/image_transport/test/test_single_subscriber_publisher.cpp
+++ b/image_transport/test/test_single_subscriber_publisher.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+// Copyright (c) 2024 Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
diff --git a/image_transport/test/test_single_subscriber_publisher_lifecycle.cpp b/image_transport/test/test_single_subscriber_publisher_lifecycle.cpp
index 5afaefda..b10c9fe4 100644
--- a/image_transport/test/test_single_subscriber_publisher_lifecycle.cpp
+++ b/image_transport/test/test_single_subscriber_publisher_lifecycle.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+// Copyright (c) 2024 Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
diff --git a/image_transport/test/test_subscriber.cpp b/image_transport/test/test_subscriber.cpp
index 1e68529f..78b794b5 100644
--- a/image_transport/test/test_subscriber.cpp
+++ b/image_transport/test/test_subscriber.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+// Copyright (c) 2024 Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
diff --git a/image_transport/test/test_subscriber_lifecycle.cpp b/image_transport/test/test_subscriber_lifecycle.cpp
index 5312bbf4..4eb4ef94 100644
--- a/image_transport/test/test_subscriber_lifecycle.cpp
+++ b/image_transport/test/test_subscriber_lifecycle.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2018 Open Source Robotics Foundation, Inc.
+// Copyright (c) 2024 Open Source Robotics Foundation, Inc.
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:

From 4c6d4600a5b1248379878744056c96002bbb1eba Mon Sep 17 00:00:00 2001
From: Benjamin Tan <tan.benjaminkx@gmail.com>
Date: Mon, 20 May 2024 21:55:10 +0800
Subject: [PATCH 12/14] Include headers from PR comments

---
 image_transport/test/test_message_passing.cpp           | 1 +
 image_transport/test/test_message_passing_lifecycle.cpp | 1 +
 image_transport/test/test_subscriber.cpp                | 4 ++++
 image_transport/test/test_subscriber_lifecycle.cpp      | 4 ++++
 4 files changed, 10 insertions(+)

diff --git a/image_transport/test/test_message_passing.cpp b/image_transport/test/test_message_passing.cpp
index fbed57d0..2b5f2b76 100644
--- a/image_transport/test/test_message_passing.cpp
+++ b/image_transport/test/test_message_passing.cpp
@@ -28,6 +28,7 @@
 
 #include <chrono>
 #include <memory>
+#include <cstddef>
 
 #include "gtest/gtest.h"
 
diff --git a/image_transport/test/test_message_passing_lifecycle.cpp b/image_transport/test/test_message_passing_lifecycle.cpp
index af29b71f..4508cdea 100644
--- a/image_transport/test/test_message_passing_lifecycle.cpp
+++ b/image_transport/test/test_message_passing_lifecycle.cpp
@@ -28,6 +28,7 @@
 
 #include <chrono>
 #include <memory>
+#include <cstddef>
 
 #include "gtest/gtest.h"
 
diff --git a/image_transport/test/test_subscriber.cpp b/image_transport/test/test_subscriber.cpp
index 78b794b5..c092b12f 100644
--- a/image_transport/test/test_subscriber.cpp
+++ b/image_transport/test/test_subscriber.cpp
@@ -30,6 +30,10 @@
 
 #include <string>
 #include <memory>
+#include <functional>
+#include <chrono>
+#include <atomic>
+#include <thread>
 
 #include "rclcpp/rclcpp.hpp"
 
diff --git a/image_transport/test/test_subscriber_lifecycle.cpp b/image_transport/test/test_subscriber_lifecycle.cpp
index 4eb4ef94..38667f7b 100644
--- a/image_transport/test/test_subscriber_lifecycle.cpp
+++ b/image_transport/test/test_subscriber_lifecycle.cpp
@@ -30,6 +30,10 @@
 
 #include <string>
 #include <memory>
+#include <functional>
+#include <chrono>
+#include <atomic>
+#include <thread>
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"

From c00ac8b6da58b4b945dfa32154c182f6c425cf97 Mon Sep 17 00:00:00 2001
From: Benjamin Tan <tan.benjaminkx@gmail.com>
Date: Mon, 20 May 2024 22:02:47 +0800
Subject: [PATCH 13/14] Include headers from PR comments <2>

---
 image_transport/test/test_message_passing.cpp                   | 1 +
 image_transport/test/test_message_passing_lifecycle.cpp         | 1 +
 image_transport/test/test_remapping.cpp                         | 2 ++
 image_transport/test/test_remapping_lifecycle.cpp               | 2 ++
 image_transport/test/test_single_subscriber_publisher.cpp       | 1 +
 .../test/test_single_subscriber_publisher_lifecycle.cpp         | 1 +
 6 files changed, 8 insertions(+)

diff --git a/image_transport/test/test_message_passing.cpp b/image_transport/test/test_message_passing.cpp
index 2b5f2b76..acb51edf 100644
--- a/image_transport/test/test_message_passing.cpp
+++ b/image_transport/test/test_message_passing.cpp
@@ -29,6 +29,7 @@
 #include <chrono>
 #include <memory>
 #include <cstddef>
+#include <thread>
 
 #include "gtest/gtest.h"
 
diff --git a/image_transport/test/test_message_passing_lifecycle.cpp b/image_transport/test/test_message_passing_lifecycle.cpp
index 4508cdea..650c4420 100644
--- a/image_transport/test/test_message_passing_lifecycle.cpp
+++ b/image_transport/test/test_message_passing_lifecycle.cpp
@@ -29,6 +29,7 @@
 #include <chrono>
 #include <memory>
 #include <cstddef>
+#include <thread>
 
 #include "gtest/gtest.h"
 
diff --git a/image_transport/test/test_remapping.cpp b/image_transport/test/test_remapping.cpp
index b348c2b7..4d9f2bfe 100644
--- a/image_transport/test/test_remapping.cpp
+++ b/image_transport/test/test_remapping.cpp
@@ -32,6 +32,8 @@
 #include <string>
 #include <memory>
 #include <vector>
+#include <cstddef>
+#include <thread>
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp/node.hpp"
diff --git a/image_transport/test/test_remapping_lifecycle.cpp b/image_transport/test/test_remapping_lifecycle.cpp
index 3b9dc46c..33474f39 100644
--- a/image_transport/test/test_remapping_lifecycle.cpp
+++ b/image_transport/test/test_remapping_lifecycle.cpp
@@ -32,6 +32,8 @@
 #include <string>
 #include <memory>
 #include <vector>
+#include <cstddef>
+#include <thread>
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
diff --git a/image_transport/test/test_single_subscriber_publisher.cpp b/image_transport/test/test_single_subscriber_publisher.cpp
index 2bebc5df..72b48fa0 100644
--- a/image_transport/test/test_single_subscriber_publisher.cpp
+++ b/image_transport/test/test_single_subscriber_publisher.cpp
@@ -29,6 +29,7 @@
 #include <functional>
 #include <string>
 #include <memory>
+#include <cstddef>
 
 #include "gtest/gtest.h"
 
diff --git a/image_transport/test/test_single_subscriber_publisher_lifecycle.cpp b/image_transport/test/test_single_subscriber_publisher_lifecycle.cpp
index b10c9fe4..1f969177 100644
--- a/image_transport/test/test_single_subscriber_publisher_lifecycle.cpp
+++ b/image_transport/test/test_single_subscriber_publisher_lifecycle.cpp
@@ -29,6 +29,7 @@
 #include <functional>
 #include <string>
 #include <memory>
+#include <cstddef>
 
 #include "gtest/gtest.h"
 

From 9cf7398f4113efaa9debcd2a20541e943ef1488f Mon Sep 17 00:00:00 2001
From: Benjamin Tan <tan.benjaminkx@gmail.com>
Date: Mon, 20 May 2024 22:23:49 +0800
Subject: [PATCH 14/14] Improve implementation to use shared ptr directly

---
 .../image_transport/publisher_plugin.hpp      | 20 +++----------------
 .../simple_publisher_plugin.hpp               |  3 ++-
 .../simple_subscriber_plugin.hpp              |  3 ++-
 .../image_transport/subscriber_plugin.hpp     | 15 +++++---------
 4 files changed, 12 insertions(+), 29 deletions(-)

diff --git a/image_transport/include/image_transport/publisher_plugin.hpp b/image_transport/include/image_transport/publisher_plugin.hpp
index ab0e1041..ff64924b 100644
--- a/image_transport/include/image_transport/publisher_plugin.hpp
+++ b/image_transport/include/image_transport/publisher_plugin.hpp
@@ -71,10 +71,7 @@ class PublisherPlugin
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
   {
-    if (!node_) {
-      node_.reset(nh);
-    }
-    advertise(base_topic, custom_qos, options);
+    advertiseImpl(std::shared_ptr<NodeType>(nh), base_topic, custom_qos, options);
   }
 
   void advertise(
@@ -83,19 +80,9 @@ class PublisherPlugin
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
   {
-    if (!node_) {
-      node_ = nh;
-    }
-    advertise(base_topic, custom_qos, options);
+    advertiseImpl(nh, base_topic, custom_qos, options);
   }
 
-  void advertise(
-    const std::string & base_topic,
-    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
-    rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
-  {
-    advertiseImpl(base_topic, custom_qos, options);
-  }
   /**
    * \brief Returns the number of subscribers that are currently connected to
    * this PublisherPlugin.
@@ -160,11 +147,10 @@ class PublisherPlugin
    * \brief Advertise a topic. Must be implemented by the subclass.
    */
   virtual void advertiseImpl(
+    std::shared_ptr<NodeType> nh,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options) = 0;
-
-  std::shared_ptr<NodeType> node_;
 };
 
 }  // namespace image_transport
diff --git a/image_transport/include/image_transport/simple_publisher_plugin.hpp b/image_transport/include/image_transport/simple_publisher_plugin.hpp
index c6ae64b5..da547771 100644
--- a/image_transport/include/image_transport/simple_publisher_plugin.hpp
+++ b/image_transport/include/image_transport/simple_publisher_plugin.hpp
@@ -99,13 +99,14 @@ class SimplePublisherPlugin : public PublisherPlugin<NodeType>
 
 protected:
   void advertiseImpl(
+    std::shared_ptr<NodeType> nh,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options) override
   {
     std::string transport_topic = getTopicToAdvertise(base_topic);
     auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
-    simple_impl_ = std::make_unique<SimplePublisherPluginImpl>(PublisherPlugin<NodeType>::node_);
+    simple_impl_ = std::make_unique<SimplePublisherPluginImpl>(nh);
     simple_impl_->pub_ = simple_impl_->node_->template create_publisher<M>(
       transport_topic, qos, options);
 
diff --git a/image_transport/include/image_transport/simple_subscriber_plugin.hpp b/image_transport/include/image_transport/simple_subscriber_plugin.hpp
index 2eb7ece2..991e11e8 100644
--- a/image_transport/include/image_transport/simple_subscriber_plugin.hpp
+++ b/image_transport/include/image_transport/simple_subscriber_plugin.hpp
@@ -109,6 +109,7 @@ class SimpleSubscriberPlugin : public SubscriberPlugin<NodeType>
   }
 
   void subscribeImpl(
+    std::shared_ptr<NodeType> node,
     const std::string & base_topic,
     const typename SubscriberPlugin<NodeType>::Callback & callback,
     rmw_qos_profile_t custom_qos,
@@ -119,7 +120,7 @@ class SimpleSubscriberPlugin : public SubscriberPlugin<NodeType>
     // ros::NodeHandle param_nh(transport_hints.getParameterNH(), getTransportName());
     //
     auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
-    impl_->sub_ = SubscriberPlugin<NodeType>::node_->template create_subscription<M>(
+    impl_->sub_ = node->template create_subscription<M>(
       getTopicToSubscribe(base_topic), qos,
       [this, callback](const typename std::shared_ptr<const M> msg) {
         internalCallback(msg, callback);
diff --git a/image_transport/include/image_transport/subscriber_plugin.hpp b/image_transport/include/image_transport/subscriber_plugin.hpp
index 4f0b2836..ee9ddf5e 100644
--- a/image_transport/include/image_transport/subscriber_plugin.hpp
+++ b/image_transport/include/image_transport/subscriber_plugin.hpp
@@ -72,10 +72,9 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
   {
-    if (!node_) {
-      node_.reset(node);
-    }
-    return subscribeImpl(base_topic, callback, custom_qos, options);
+    return subscribeImpl(
+      std::shared_ptr<NodeType>(node), base_topic, callback, custom_qos,
+      options);
   }
 
   void subscribe(
@@ -84,10 +83,7 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
   {
-    if (!node_) {
-      node_ = node;
-    }
-    return subscribeImpl(base_topic, callback, custom_qos, options);
+    return subscribeImpl(node, base_topic, callback, custom_qos, options);
   }
 
   /**
@@ -200,12 +196,11 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
    * \brief Subscribe to an image transport topic. Must be implemented by the subclass.
    */
   virtual void subscribeImpl(
+    std::shared_ptr<NodeType> node,
     const std::string & base_topic,
     const Callback & callback,
     rmw_qos_profile_t custom_qos,
     rclcpp::SubscriptionOptions options) = 0;
-
-  std::shared_ptr<NodeType> node_;
 };
 
 }  // namespace image_transport