Addressed review comments

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

rmw_fastrtps_cpp/src/rmw_client.cpp

@@ -351,7 +351,7 @@ rmw_create_client(
   eprosima::fastdds::dds::DataReaderQos dataReaderQos = subscriber->get_default_datareader_qos();
 
   // Try to load the profile named "client",
-  // if it does not exist it tryes with the response topic name
+  // if it does not exist it tries with the response topic name
   // It does not need to check the return code, as if any of the profile does not exist,
   // the QoS is already set correctly:
   // If none exist is default, if only one exists is the one chosen,
@@ -392,7 +392,7 @@ rmw_create_client(
   eprosima::fastdds::dds::DataWriterQos dataWriterQos = publisher->get_default_datawriter_qos();
 
   // Try to load the profile named "client",
-  // if it does not exist it tryes with the request topic name
+  // if it does not exist it tries with the request topic name
   // It does not need to check the return code, as if any of the profile does not exist,
   // the QoS is already set correctly:
   // If none exist is default, if only one exists is the one chosen,

rmw_fastrtps_cpp/src/rmw_service.cpp

@@ -350,7 +350,7 @@ rmw_create_service(
   eprosima::fastdds::dds::DataReaderQos dataReaderQos = subscriber->get_default_datareader_qos();
 
   // Try to load the profile named "service",
-  // if it does not exist it tryes with the request topic name
+  // if it does not exist it tries with the request topic name
   // It does not need to check the return code, as if any of the profile does not exist,
   // the QoS is already set correctly:
   // If none exist is default, if only one exists is the one chosen,
@@ -395,7 +395,7 @@ rmw_create_service(
   eprosima::fastdds::dds::DataWriterQos dataWriterQos = publisher->get_default_datawriter_qos();
 
   // Try to load the profile named "service",
-  // if it does not exist it tryes with the request topic name
+  // if it does not exist it tries with the request topic name
   // It does not need to check the return code, as if any of the profile does not exist,
   // the QoS is already set correctly:
   // If none exist is default, if only one exists is the one chosen,

rmw_fastrtps_cpp/src/subscription.cpp

@@ -154,7 +154,7 @@ create_subscription(
   }
 
   /////
-  // Create the RMW Subscriber struct (info)
+  // Create the custom Subscriber struct (info)
   CustomSubscriberInfo * info = nullptr;
 
   info = new (std::nothrow) CustomSubscriberInfo();
@@ -169,7 +169,7 @@ create_subscription(
     });
 
   info->typesupport_identifier_ = type_support->typesupport_identifier;
-  info->type_support_impl_ = type_support->data;
+  info->type_support_impl_ = callbacks;
 
   /////
   // Create the Type Support struct

rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp

@@ -266,7 +266,7 @@ rmw_create_client(
     });
 
   if (ReturnCode_t::RETCODE_OK != response_fastdds_type.register_type(domainParticipant)) {
-    RMW_SET_ERROR_MSG("create_client() failed to register request type");
+    RMW_SET_ERROR_MSG("create_client() failed to register response type");
     return nullptr;
   }
   info->response_type_support_ = response_fastdds_type;
@@ -370,15 +370,15 @@ rmw_create_client(
   std::string topic_name_fallback = "client";
 
   /////
-  // Create request DataReader
+  // Create response DataReader
 
   // If FASTRTPS_DEFAULT_PROFILES_FILE defined, fill DataReader QoS with a subscriber profile
   // located based on topic name defined by _create_topic_name(). If no profile is found, a search
   // with profile_name "client" is attempted. Else, use the default Fast DDS QoS.
   eprosima::fastdds::dds::DataReaderQos dataReaderQos = subscriber->get_default_datareader_qos();
 
   // Try to load the profile named "client",
-  // if it does not exist it tryes with the request topic name
+  // if it does not exist it tries with the response topic name
   // It does not need to check the return code, as if any of the profile does not exist,
   // the QoS is already set correctly:
   // If none exist is default, if only one exists is the one chosen,
@@ -419,7 +419,7 @@ rmw_create_client(
   eprosima::fastdds::dds::DataWriterQos dataWriterQos = publisher->get_default_datawriter_qos();
 
   // Try to load the profile named "client",
-  // if it does not exist it tryes with the request topic name
+  // if it does not exist it tries with the request topic name
   // It does not need to check the return code, as if any of the profile does not exist,
   // the QoS is already set correctly:
   // If none exist is default, if only one exists is the one chosen,

rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp

@@ -200,7 +200,7 @@ rmw_create_service(
   }
 
   /////
-  // Create the RMW Service struct (info)
+  // Create the custom Service struct (info)
   CustomServiceInfo * info = new (std::nothrow) CustomServiceInfo();
   if (!info) {
     RMW_SET_ERROR_MSG("create_service() failed to allocate custom info");
@@ -380,7 +380,7 @@ rmw_create_service(
   eprosima::fastdds::dds::DataReaderQos dataReaderQos = subscriber->get_default_datareader_qos();
 
   // Try to load the profile named "service",
-  // if it does not exist it tryes with the request topic name
+  // if it does not exist it tries with the request topic name
   // It does not need to check the return code, as if any of the profile does not exist,
   // the QoS is already set correctly:
   // If none exist is default, if only one exists is the one chosen,
@@ -425,7 +425,7 @@ rmw_create_service(
   eprosima::fastdds::dds::DataWriterQos dataWriterQos = publisher->get_default_datawriter_qos();
 
   // Try to load the profile named "service",
-  // if it does not exist it tryes with the request topic name
+  // if it does not exist it tries with the request topic name
   // It does not need to check the return code, as if any of the profile does not exist,
   // the QoS is already set correctly:
   // If none exist is default, if only one exists is the one chosen,

rmw_fastrtps_dynamic_cpp/src/subscription.cpp

@@ -65,6 +65,8 @@ create_subscription(
   bool keyed,
   bool create_subscription_listener)
 {
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(nullptr);
+
   /////
   // Check input parameters
   RMW_CHECK_ARGUMENT_FOR_NULL(participant_info, nullptr);
@@ -150,7 +152,7 @@ create_subscription(
       fastdds_type))
   {
     RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
-      "create_publisher() called with existing topic name %s with incompatible type %s",
+      "create_subscription() called with existing topic name %s with incompatible type %s",
       topic_name_mangled.c_str(), type_name.c_str());
     return nullptr;
   }

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp

@@ -41,8 +41,6 @@
 
 #include "rcpputils/thread_safety_annotations.hpp"
 
-#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
-
 class ClientListener;
 class ClientPubListener;
 

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp

@@ -34,7 +34,6 @@
 #include "rcpputils/thread_safety_annotations.hpp"
 #include "rmw/rmw.h"
 
-#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_event_info.hpp"
 
 

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp

@@ -40,7 +40,6 @@
 
 #include "rcpputils/thread_safety_annotations.hpp"
 
-#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 #include "rmw_fastrtps_shared_cpp/guid_utils.hpp"
 
 class ServiceListener;

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp

@@ -35,7 +35,6 @@
 
 #include "rmw/impl/cpp/macros.hpp"
 
-#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_event_info.hpp"
 
 

rmw_fastrtps_shared_cpp/src/rmw_take.cpp

@@ -12,8 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <vector>
-
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"
 #include "rmw/serialized_message.h"