Add parameter services

rclrs/src/node.rs

@@ -65,14 +65,17 @@ unsafe impl Send for rcl_node_t {}
 /// [3]: crate::NodeBuilder::new
 /// [4]: crate::NodeBuilder::namespace
 pub struct Node {
-    pub(crate) rcl_node_mtx: Arc<Mutex<rcl_node_t>>,
-    pub(crate) rcl_context_mtx: Arc<Mutex<rcl_context_t>>,
     pub(crate) clients_mtx: Mutex<Vec<Weak<dyn ClientBase>>>,
     pub(crate) guard_conditions_mtx: Mutex<Vec<Weak<GuardCondition>>>,
     pub(crate) services_mtx: Mutex<Vec<Weak<dyn ServiceBase>>>,
     pub(crate) subscriptions_mtx: Mutex<Vec<Weak<dyn SubscriptionBase>>>,
     time_source: TimeSource,
     parameter: ParameterInterface,
+    // Note: it's important to have those last since `drop` will be called in order of declaration
+    // in the struct and both `TimeSource` and `ParameterInterface` contain subscriptions /
+    // services that will fail to be dropped if the context or node is destroyed first.
+    pub(crate) rcl_node_mtx: Arc<Mutex<rcl_node_t>>,
+    pub(crate) rcl_context_mtx: Arc<Mutex<rcl_context_t>>,
 }
 
 impl Eq for Node {}

rclrs/src/node/builder.rs

@@ -299,6 +299,7 @@ impl NodeBuilder {
             parameter,
         });
         node.time_source.attach_node(&node);
+        node.parameter.create_services(&node)?;
         Ok(node)
     }
 

rclrs/src/node/graph.rs

@@ -497,16 +497,16 @@ mod tests {
 
         assert!(subscription_infos.is_empty());
 
-        // Test that the graph has no services
+        // Test that the graph only has 6 services (parameter services)
         let names_and_topics = node
             .get_service_names_and_types_by_node(node_name, "")
             .unwrap();
 
-        assert_eq!(names_and_topics.len(), 0);
+        assert_eq!(names_and_topics.len(), 6);
 
         let names_and_topics = node.get_service_names_and_types().unwrap();
 
-        assert_eq!(names_and_topics.len(), 0);
+        assert_eq!(names_and_topics.len(), 6);
 
         // Test that the graph has no clients
         let names_and_topics = node