Fix rolling CI failures (#38)

- Replace ament_target_dependencies with target_link_libraries
  (removed in rolling ament_cmake)
- Use std::shared_ptr<const MsgT> for subscription callbacks
  (rolling deprecated the non-const overload)
- Only pass -fcoroutines for GCC (Clang warns on unused flag)

Author: otamachan

rclcpp_async/CMakeLists.txt

@@ -8,7 +8,10 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=deprecated-declarations -fcoroutines)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=deprecated-declarations)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX)
+  add_compile_options(-fcoroutines)
 endif()
 
 find_package(ament_cmake REQUIRED)

rclcpp_async/include/rclcpp_async/co_context.hpp

@@ -186,7 +186,7 @@ class CoContext
   {
     auto stream = std::make_shared<TopicStream<MsgT>>(*this);
     stream->sub_ = node_.template create_subscription<MsgT>(
-      topic, qos, [s = stream](typename MsgT::SharedPtr msg) {
+      topic, qos, [s = stream](std::shared_ptr<const MsgT> msg) {
         if (s->closed_) {
           return;
         }

rclcpp_async/include/rclcpp_async/topic_stream.hpp

@@ -37,7 +37,7 @@ template <typename MsgT>
 class TopicStream
 {
   CoContext & ctx_;
-  std::queue<typename MsgT::SharedPtr> queue_;
+  std::queue<std::shared_ptr<const MsgT>> queue_;
   std::coroutine_handle<> waiter_;
   typename rclcpp::Subscription<MsgT>::SharedPtr sub_;
   bool closed_ = false;
@@ -49,7 +49,7 @@ class TopicStream
 
   struct NextAwaiter
   {
-    using SharedPtr = typename MsgT::SharedPtr;
+    using SharedPtr = std::shared_ptr<const MsgT>;
 
     TopicStream & stream;
     std::stop_token token;

rclcpp_async_example/CMakeLists.txt

@@ -8,7 +8,10 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic -Werror=deprecated-declarations -fcoroutines)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=deprecated-declarations)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX)
+  add_compile_options(-fcoroutines)
 endif()
 
 find_package(ament_cmake REQUIRED)
@@ -40,7 +43,7 @@ target_link_libraries(nested_demo rclcpp_async::rclcpp_async
 add_library(component_demo SHARED src/component_demo.cpp)
 target_link_libraries(component_demo rclcpp_async::rclcpp_async
   ${std_msgs_TARGETS} ${std_srvs_TARGETS})
-ament_target_dependencies(component_demo rclcpp_components)
+target_link_libraries(component_demo rclcpp_components::component)
 rclcpp_components_register_node(component_demo
   PLUGIN "rclcpp_async_example::ComponentDemo"
   EXECUTABLE component_demo_node)