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Add support for passing arguments to constructors - #223

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ahcorde merged 4 commits into
ros:rollingfrom
pum1k:rolling
Feb 20, 2026
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Add support for passing arguments to constructors#223
ahcorde merged 4 commits into
ros:rollingfrom
pum1k:rolling

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@pum1k

@pum1kpum1k commented Dec 17, 2025

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This PR adds the ability to pass arguments to constructors of the derived classes. As a result, users can now create plugins that are not default constructible, removing the need for initialize method.

To achieve this, a new customization point was added: template struct InterfaceTraits. Specializing this struct allows users to define signature of the constructors that will be required by the derived classes.

If users do not specialize this structure, default constructor is assumed and there are no changes to the behavior.

@pum1k
Add support for passing arguments to constructors
a23fd3a
- added InterfaceTraits type trait that can be used to define the
constructor arguments used by the derived classes
- changed class loaders to pass arguments to the derived classes based
on the information stored in InterfaceTraits
Signed-off-by: pum1k <55055380+pum1k@users.noreply.github.com>
@pum1k

pum1k commented Jan 29, 2026

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Hi @ahcorde,
could you, please, review this PR and merge it if it is ok? I don't know who to ask, so i found you on other PRs. Sorry for the ping if you are not the right person to ask.

@ahcorde
ahcorde self-requested a review February 5, 2026 11:35
@ahcorde

ahcorde commented Feb 5, 2026•
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Pulls: #223
Gist: https://gist.githubusercontent.com/ahcorde/2ac0c58c497edec9c4feac045a457731/raw/a0614acd74a344d977449d35533388fef9da1a02/ros2.repos
BUILD args: --packages-above-and-dependencies class_loader
TEST args: --packages-above class_loader
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18135

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@pum1k
Fix compilation error on older compilers
a8c38ca
Signed-off-by: pum1k <55055380+pum1k@users.noreply.github.com>
@pum1k

pum1k commented Feb 6, 2026

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The Linux-rhel failure should alredy be fixed. Windows issue looks like a compiler bug in template deduction. It should be fixable with a slight change in the implementation.

@pum1k
Add workaround for MSVC errors
bf76c00
Signed-off-by: pum1k <55055380+pum1k@users.noreply.github.com>
@pum1k

pum1k commented Feb 6, 2026

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The MSVC problem should also be fixed now.

@ahcorde

ahcorde commented Feb 6, 2026

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Pulls: #223
Gist: https://gist.githubusercontent.com/ahcorde/e7e87da95786dcd916c7761dad0bb56f/raw/a0614acd74a344d977449d35533388fef9da1a02/ros2.repos
BUILD args: --packages-above-and-dependencies class_loader
TEST args: --packages-above class_loader
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18142

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@pum1k

pum1k commented Feb 13, 2026

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Is there anything else I need to do before this can be merged?

@pum1k

pum1k commented Feb 18, 2026

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@ahcorde, can you, please, review this?

ahcorde
ahcorde requested changes Feb 19, 2026
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Comment threadinclude/class_loader/class_loader.hpp
ahcorde
ahcorde requested changes Feb 19, 2026
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Comment threadinclude/class_loader/interface_traits.hpp Outdated
Comment threadtest/plugins3.cpp Outdated
Comment threadtest/plugins3.cpp
@pum1k
Resolve comments from code review
a9300be
Signed-off-by: pum1k <55055380+pum1k@users.noreply.github.com>
@pum1k
pum1k requested a review from ahcordeFebruary 19, 2026 14:36
@ahcorde

ahcorde commented Feb 19, 2026•
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  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@ahcorde
ahcorde merged commit 5c27948 into ros:rollingFeb 20, 2026
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@pum1kpum1k mentioned this pull request Feb 20, 2026
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