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Why is everything a shared_ptr in ROS2?

asked 2020-10-09 07:48:53 -0600

nnmm gravatar image

updated 2020-10-09 08:05:12 -0600

Many functions in rclcpp return a std::shared_ptr, e.g. create_subscription(), or take a std::shared_ptr argument, e.g. subscriber callbacks. This surprises me because it's my impression that it's good practice to use shared pointers only when needed, and prefer a unique_ptr or even plain objects.

For instance, the std::shared_ptr returned by create_subscription() appears to be the sole owner of the subscriber, so it could be a std::unique_ptr instead. Besides being a bit more performant and flexible, this would also serve as documentation: I had to write a test case to find out that there is only one owner and that you can therefore shut down a subscription by resetting it to nullptr, but if it had been a std::unique_ptr, that would have been obvious. Similarly, everywhere a pointer is used, it theoretically allows for a nullptr, but if a function returned a plain object or accepted arguments by reference instead, users of the API could rely on the object never being null.

I'm not sure if plain objects would be possible – maybe rclcpp uses polymorphism and SubscriptionT is only a base class, while the true type is hard/impossible to name?

So why is everything a shared pointer in ROS2? I hope a broad question like makes sense, but if not, my main questions would be:

  • Why are there no versions of create_subscription() and create_publisher() that return unique pointers or plain objects?
  • Why do the subscription callbacks not receive messages by reference?
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I'd also be interested in some discussion surrounding this. It's also easy to convert a unique_ptr to a shared_ptr if shared ownership is needed during runtime. My guess is that it's done this way to simplify the overall interface during the initial development of ROS2. This sets a bad precedent for clear ownership however, as you have pointed out.

oysstu gravatar image oysstu  ( 2020-11-06 04:48:27 -0600 )edit

Any updates on this? My team is trying to make the switch to ROS2 but have the exact same questions ...

jn42 gravatar image jn42  ( 2021-09-22 14:13:19 -0600 )edit

For an authoritative answer, we'll need input from someone who was present when this design choice was made.

Perhaps @William, or one of the other "core devs" of ROS 2.

gvdhoorn gravatar image gvdhoorn  ( 2021-09-22 14:22:31 -0600 )edit

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answered 2020-11-17 04:35:13 -0600

fredBeauj gravatar image

I wasn't involved in the design decision but asked myself the same question as @nnmm . One thing I noticed is that shared pointers are pervasive in that if you use shared_from_thisinside the class definition (and that happens quite a bit) so the node can pass itself to members, then it would be undefined behavior until C++17 if the node wasn't created as a shared pointer; cf

Certainly not great to require knowing how your instance is created/stored but that's how it is.

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Asked: 2020-10-09 07:48:53 -0600

Seen: 1,197 times

Last updated: Nov 17 '20