perf: Optimized out shared_ptr copies

rclcpp/include/rclcpp/callback_group.hpp

@@ -106,35 +106,35 @@ class CallbackGroup
 
   template<typename Function>
   rclcpp::SubscriptionBase::SharedPtr
-  find_subscription_ptrs_if(Function func) const
+  find_subscription_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::SubscriptionBase, Function>(func, subscription_ptrs_);
   }
 
   template<typename Function>
   rclcpp::TimerBase::SharedPtr
-  find_timer_ptrs_if(Function func) const
+  find_timer_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::TimerBase, Function>(func, timer_ptrs_);
   }
 
   template<typename Function>
   rclcpp::ServiceBase::SharedPtr
-  find_service_ptrs_if(Function func) const
+  find_service_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::ServiceBase, Function>(func, service_ptrs_);
   }
 
   template<typename Function>
   rclcpp::ClientBase::SharedPtr
-  find_client_ptrs_if(Function func) const
+  find_client_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::ClientBase, Function>(func, client_ptrs_);
   }
 
   template<typename Function>
   rclcpp::Waitable::SharedPtr
-  find_waitable_ptrs_if(Function func) const
+  find_waitable_ptrs_if(const Function & func) const
   {
     return _find_ptrs_if_impl<rclcpp::Waitable, Function>(func, waitable_ptrs_);
   }
@@ -179,11 +179,11 @@ class CallbackGroup
   RCLCPP_PUBLIC
   void
   collect_all_ptrs(
-    std::function<void(const rclcpp::SubscriptionBase::SharedPtr &)> sub_func,
-    std::function<void(const rclcpp::ServiceBase::SharedPtr &)> service_func,
-    std::function<void(const rclcpp::ClientBase::SharedPtr &)> client_func,
-    std::function<void(const rclcpp::TimerBase::SharedPtr &)> timer_func,
-    std::function<void(const rclcpp::Waitable::SharedPtr &)> waitable_func) const;
+    const std::function<void(const rclcpp::SubscriptionBase::SharedPtr &)> & sub_func,
+    const std::function<void(const rclcpp::ServiceBase::SharedPtr &)> & service_func,
+    const std::function<void(const rclcpp::ClientBase::SharedPtr &)> & client_func,
+    const std::function<void(const rclcpp::TimerBase::SharedPtr &)> & timer_func,
+    const std::function<void(const rclcpp::Waitable::SharedPtr &)> & waitable_func) const;
 
   /// Return a reference to the 'associated with executor' atomic boolean.
   /**
@@ -228,31 +228,31 @@ class CallbackGroup
 
   RCLCPP_PUBLIC
   void
-  add_publisher(const rclcpp::PublisherBase::SharedPtr publisher_ptr);
+  add_publisher(const rclcpp::PublisherBase::SharedPtr & publisher_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_subscription(const rclcpp::SubscriptionBase::SharedPtr subscription_ptr);
+  add_subscription(const rclcpp::SubscriptionBase::SharedPtr & subscription_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_timer(const rclcpp::TimerBase::SharedPtr timer_ptr);
+  add_timer(const rclcpp::TimerBase::SharedPtr & timer_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_service(const rclcpp::ServiceBase::SharedPtr service_ptr);
+  add_service(const rclcpp::ServiceBase::SharedPtr & service_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_client(const rclcpp::ClientBase::SharedPtr client_ptr);
+  add_client(const rclcpp::ClientBase::SharedPtr & client_ptr);
 
   RCLCPP_PUBLIC
   void
-  add_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr);
+  add_waitable(const rclcpp::Waitable::SharedPtr & waitable_ptr);
 
   RCLCPP_PUBLIC
   void
-  remove_waitable(const rclcpp::Waitable::SharedPtr waitable_ptr) noexcept;
+  remove_waitable(const rclcpp::Waitable::SharedPtr & waitable_ptr) noexcept;
 
   CallbackGroupType type_;
   // Mutex to protect the subsequent vectors of pointers.
@@ -274,7 +274,7 @@ class CallbackGroup
 private:
   template<typename TypeT, typename Function>
   typename TypeT::SharedPtr _find_ptrs_if_impl(
-    Function func, const std::vector<typename TypeT::WeakPtr> & vect_ptrs) const
+    const Function & func, const std::vector<typename TypeT::WeakPtr> & vect_ptrs) const
   {
     std::lock_guard<std::mutex> lock(mutex_);
     for (auto & weak_ptr : vect_ptrs) {

rclcpp/include/rclcpp/client.hpp

@@ -145,7 +145,7 @@ class ClientBase
   RCLCPP_PUBLIC
   ClientBase(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph);
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr & node_graph);
 
   RCLCPP_PUBLIC
   virtual ~ClientBase() = default;
@@ -221,7 +221,8 @@ class ClientBase
   virtual std::shared_ptr<void> create_response() = 0;
   virtual std::shared_ptr<rmw_request_id_t> create_request_header() = 0;
   virtual void handle_response(
-    std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<void> response) = 0;
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & response) = 0;
 
   /// Exchange the "in use by wait set" state for this client.
   /**
@@ -296,7 +297,7 @@ class ClientBase
    * \param[in] callback functor to be called when a new response is received
    */
   void
-  set_on_new_response_callback(std::function<void(size_t)> callback)
+  set_on_new_response_callback(const std::function<void(size_t)> & callback)
   {
     if (!callback) {
       throw std::invalid_argument(
@@ -477,7 +478,7 @@ class Client : public ClientBase
    */
   Client(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
-    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
+    const rclcpp::node_interfaces::NodeGraphInterface::SharedPtr & node_graph,
     const std::string & service_name,
     rcl_client_options_t & client_options)
   : ClientBase(node_base, node_graph),
@@ -556,8 +557,8 @@ class Client : public ClientBase
    */
   void
   handle_response(
-    std::shared_ptr<rmw_request_id_t> request_header,
-    std::shared_ptr<void> response) override
+    const std::shared_ptr<rmw_request_id_t> & request_header,
+    const std::shared_ptr<void> & response) override
   {
     std::optional<CallbackInfoVariant>
     optional_pending_request = this->get_and_erase_pending_request(request_header->sequence_number);
@@ -566,7 +567,7 @@ class Client : public ClientBase
     }
     auto & value = *optional_pending_request;
     auto typed_response = std::static_pointer_cast<typename ServiceT::Response>(
-      std::move(response));
+      response);
     if (std::holds_alternative<Promise>(value)) {
       auto & promise = std::get<Promise>(value);
       promise.set_value(std::move(typed_response));
@@ -617,7 +618,7 @@ class Client : public ClientBase
    * \return a FutureAndRequestId instance.
    */
   FutureAndRequestId
-  async_send_request(SharedRequest request)
+  async_send_request(const SharedRequest & request)
   {
     Promise promise;
     auto future = promise.get_future();
@@ -652,7 +653,7 @@ class Client : public ClientBase
     >::type * = nullptr
   >
   SharedFutureAndRequestId
-  async_send_request(SharedRequest request, CallbackT && cb)
+  async_send_request(const SharedRequest & request, CallbackT && cb)
   {
     Promise promise;
     auto shared_future = promise.get_future().share();
@@ -683,7 +684,7 @@ class Client : public ClientBase
     >::type * = nullptr
   >
   SharedFutureWithRequestAndRequestId
-  async_send_request(SharedRequest request, CallbackT && cb)
+  async_send_request(const SharedRequest & request, CallbackT && cb)
   {
     PromiseWithRequest promise;
     auto shared_future = promise.get_future().share();
@@ -795,7 +796,7 @@ class Client : public ClientBase
    */
   void
   configure_introspection(
-    Clock::SharedPtr clock, const QoS & qos_service_event_pub,
+    const Clock::SharedPtr & clock, const QoS & qos_service_event_pub,
     rcl_service_introspection_state_t introspection_state)
   {
     rcl_publisher_options_t pub_opts = rcl_publisher_get_default_options();

rclcpp/include/rclcpp/clock.hpp

@@ -118,7 +118,7 @@ class Clock
   bool
   sleep_until(
     Time until,
-    Context::SharedPtr context = contexts::get_global_default_context());
+    const Context::SharedPtr & context = contexts::get_global_default_context());
 
   /**
    * Sleep for a specified Duration.
@@ -142,7 +142,7 @@ class Clock
   bool
   sleep_for(
     Duration rel_time,
-    Context::SharedPtr context = contexts::get_global_default_context());
+    const Context::SharedPtr & context = contexts::get_global_default_context());
 
   /**
    * Check if the clock is started.
@@ -168,7 +168,7 @@ class Clock
    */
   RCLCPP_PUBLIC
   bool
-  wait_until_started(Context::SharedPtr context = contexts::get_global_default_context());
+  wait_until_started(const Context::SharedPtr & context = contexts::get_global_default_context());
 
   /**
    * Wait for clock to start, with timeout.
@@ -186,7 +186,7 @@ class Clock
   bool
   wait_until_started(
     const rclcpp::Duration & timeout,
-    Context::SharedPtr context = contexts::get_global_default_context(),
+    const Context::SharedPtr & context = contexts::get_global_default_context(),
     const rclcpp::Duration & wait_tick_ns = rclcpp::Duration(0, static_cast<uint32_t>(1e7)));
 
   /**
@@ -238,8 +238,8 @@ class Clock
   RCLCPP_PUBLIC
   JumpHandler::SharedPtr
   create_jump_callback(
-    JumpHandler::pre_callback_t pre_callback,
-    JumpHandler::post_callback_t post_callback,
+    const JumpHandler::pre_callback_t & pre_callback,
+    const JumpHandler::post_callback_t & post_callback,
     const rcl_jump_threshold_t & threshold);
 
 private:
@@ -327,7 +327,7 @@ class ClockConditionalVariable
   RCLCPP_PUBLIC
   ClockConditionalVariable(
     const rclcpp::Clock::SharedPtr & clock,
-    rclcpp::Context::SharedPtr context = rclcpp::contexts::get_global_default_context());
+    const rclcpp::Context::SharedPtr & context = rclcpp::contexts::get_global_default_context());
   RCLCPP_PUBLIC
   ~ClockConditionalVariable();
 

rclcpp/include/rclcpp/context.hpp

@@ -229,7 +229,7 @@ class Context : public std::enable_shared_from_this<Context>
   RCLCPP_PUBLIC
   virtual
   OnShutdownCallback
-  on_shutdown(OnShutdownCallback callback);
+  on_shutdown(const OnShutdownCallback & callback);
 
   /// Add a on_shutdown callback to be called when shutdown is called for this context.
   /**
@@ -253,7 +253,7 @@ class Context : public std::enable_shared_from_this<Context>
   RCLCPP_PUBLIC
   virtual
   OnShutdownCallbackHandle
-  add_on_shutdown_callback(OnShutdownCallback callback);
+  add_on_shutdown_callback(const OnShutdownCallback & callback);
 
   /// Remove an registered on_shutdown callbacks.
   /**
@@ -280,7 +280,7 @@ class Context : public std::enable_shared_from_this<Context>
   RCLCPP_PUBLIC
   virtual
   PreShutdownCallbackHandle
-  add_pre_shutdown_callback(PreShutdownCallback callback);
+  add_pre_shutdown_callback(const PreShutdownCallback & callback);
 
   /// Remove an registered pre_shutdown callback.
   /**

rclcpp/include/rclcpp/create_generic_client.hpp

@@ -46,13 +46,13 @@ namespace rclcpp
 RCLCPP_PUBLIC
 rclcpp::GenericClient::SharedPtr
 create_generic_client(
-  std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
-  std::shared_ptr<node_interfaces::NodeGraphInterface> node_graph,
-  std::shared_ptr<node_interfaces::NodeServicesInterface> node_services,
+  const std::shared_ptr<node_interfaces::NodeBaseInterface> & node_base,
+  const std::shared_ptr<node_interfaces::NodeGraphInterface> & node_graph,
+  const std::shared_ptr<node_interfaces::NodeServicesInterface> & node_services,
   const std::string & service_name,
   const std::string & service_type,
   const rclcpp::QoS & qos = rclcpp::ServicesQoS(),
-  rclcpp::CallbackGroup::SharedPtr group = nullptr);
+  const rclcpp::CallbackGroup::SharedPtr & group = rclcpp::CallbackGroup::SharedPtr());
 
 /// Create a generic service client with a name of given type.
 /**