Enable StaticTransformBroadcaster in Intra-process enabled components…

… (backport #607) (#612)

* Enable StaticTransformBroadcaster in Intra-process enabled components (#607)

* Update static_transform_broadcaster.h

(cherry picked from commit edad1bc)

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com>

tf2_ros/include/tf2_ros/static_transform_broadcaster.h

@@ -64,6 +64,15 @@ class StaticTransformBroadcaster
         rclcpp::QosPolicyKind::Depth,
         rclcpp::QosPolicyKind::History,
         rclcpp::QosPolicyKind::Reliability};
+      /*
+        This flag disables intra-process communication while publishing to
+        /tf_static topic, when the StaticTransformBroadcaster is constructed
+        using an existing node handle which happens to be a component
+        (in rclcpp terminology).
+        Required until rclcpp intra-process communication supports
+        transient_local QoS durability.
+      */
+      options.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
       return options;
     } ())
   {

tf2_ros/test/test_static_transform_broadcaster.cpp

@@ -50,13 +50,38 @@ class CustomNode : public rclcpp::Node
   std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tf_broadcaster_;
 };
 
+class CustomComposableNode : public rclcpp::Node
+{
+public:
+  explicit CustomComposableNode(const rclcpp::NodeOptions & options)
+  : rclcpp::Node("tf2_ros_test_static_transform_broadcaster_composable_node", options)
+  {}
+
+  void init_tf_broadcaster()
+  {
+    tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(shared_from_this());
+  }
+
+private:
+  std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tf_broadcaster_;
+};
+
 TEST(tf2_test_static_transform_broadcaster, transform_broadcaster_rclcpp_node)
 {
   auto node = rclcpp::Node::make_shared("tf2_ros_message_filter");
 
   tf2_ros::StaticTransformBroadcaster tfb(node);
 }
 
+TEST(tf2_test_static_transform_broadcaster, transform_broadcaster_with_intraprocess)
+{
+  rclcpp::executors::SingleThreadedExecutor exec;
+  rclcpp::NodeOptions options;
+  options = options.use_intra_process_comms(true);
+  auto custom_node = std::make_shared<CustomComposableNode>(options);
+  custom_node->init_tf_broadcaster();
+}
+
 TEST(tf2_test_static_transform_broadcaster, transform_broadcaster_custom_rclcpp_node)
 {
   auto node = std::make_shared<NodeWrapper>("tf2_ros_message_filter");