Change type of received_message

[CursedRock17]

Description

The point of this issue is to highlight discussion to change from a type T to message_info in the OnMessageReceived Function. I would be able to make a pull request for these changes, if the libstatistics_collector library wanted to go along with this

Related Issues

This was discussed in pull request 2247 over in the rclcpp library. If you want to follow discussion up to this point, it has all happened there.

Completion Criteria

• Must change type T in const T & received_message within all OnMessageReceived functions to either rmw_message_info_t or if we wanted to import rclcpp (which we probably don't) clcpp::MessageInfo
• Then deprecate all OnMessageReceived functions that are templated with type T

Testing Notes / Suggestions

Not much other than changing the message types passed to the test functions.

[clalancette]

* Must change type `T` in `const T & received_message` within all `OnMessageReceived` functions to either `rmw_message_info_t` or if we wanted to import rclcpp (which we probably don't) `clcpp::MessageInfo`

Agreed that we can't take a new dependency on rclcpp here. That would lead to a circular dependency that would be hard to undo. This package already depends on rcl, which in turn depends on rmw, so it is OK to take an explicit dependency on it for this feature.

[MichaelOrlov]

@CursedRock17 Sounds good 👍

[CursedRock17]

Sounds good, it's been checked off as ready to go and all the uncrustify errors are fixed so once it's reviewed and the CI is ran on it, I'll change up rclcpp message handling.

[fujitatomoya]

@CursedRock17 i totally missed this one, i will take a look.