From c718b56f64b79ea5efe630a7347d7cb5fe4fca03 Mon Sep 17 00:00:00 2001
From: Emerson Knapp <eknapp@amazon.com>
Date: Tue, 9 Apr 2019 12:44:29 -0700
Subject: [PATCH] Remove default params that resulted in ambiguous
 declarations.

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
---
 rclcpp/include/rclcpp/node.hpp                |  7 ++--
 rclcpp/include/rclcpp/node_impl.hpp           |  2 --
 rclcpp/test/test_pub_sub_option_interface.cpp | 33 +++++++++++++------
 3 files changed, 27 insertions(+), 15 deletions(-)

diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index 34e6fbf14d..81c112cc81 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -171,8 +171,9 @@ class Node : public std::enable_shared_from_this<Node>
   [[deprecated]]
   std::shared_ptr<PublisherT>
   create_publisher(
-    const std::string & topic_name, size_t qos_history_depth,
-    std::shared_ptr<Alloc> allocator = nullptr,
+    const std::string & topic_name,
+    size_t qos_history_depth,
+    std::shared_ptr<Alloc> allocator,
     IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault);
 
   /// Create and return a Publisher.
@@ -284,7 +285,7 @@ class Node : public std::enable_shared_from_this<Node>
     const std::string & topic_name,
     CallbackT && callback,
     size_t qos_history_depth,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
+    rclcpp::callback_group::CallbackGroup::SharedPtr group,
     bool ignore_local_publications = false,
     typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
       typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
index 7ed8bea0ee..4cb576f3f4 100644
--- a/rclcpp/include/rclcpp/node_impl.hpp
+++ b/rclcpp/include/rclcpp/node_impl.hpp
@@ -115,7 +115,6 @@ Node::create_publisher(
     topic_name, qos_history_depth, pub_options);
 }
 
-
 template<typename MessageT, typename Alloc, typename PublisherT>
 std::shared_ptr<PublisherT>
 Node::create_publisher(
@@ -217,7 +216,6 @@ Node::create_subscription(
     topic_name, std::forward<CallbackT>(callback), qos_profile.depth, sub_options, msg_mem_strat);
 }
 
-
 template<
   typename MessageT,
   typename CallbackT,
diff --git a/rclcpp/test/test_pub_sub_option_interface.cpp b/rclcpp/test/test_pub_sub_option_interface.cpp
index 35d17f7c54..eb28284f98 100644
--- a/rclcpp/test/test_pub_sub_option_interface.cpp
+++ b/rclcpp/test/test_pub_sub_option_interface.cpp
@@ -20,7 +20,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "test_msgs/msg/empty.hpp"
 
-class TestPublisher : public ::testing::Test
+class TestPubSubOptionAPI : public ::testing::Test
 {
 protected:
   static void SetUpTestCase()
@@ -41,17 +41,30 @@ class TestPublisher : public ::testing::Test
   rclcpp::Node::SharedPtr node;
 };
 
-/*
-   Testing construction and destruction.
- */
-TEST_F(TestPublisher, construction_and_destruction) {
+TEST_F(TestPubSubOptionAPI, check_for_ambiguous) {
   rclcpp::PublisherOptions<> pub_options;
-  auto publisher = node->create_publisher<test_msgs::msg::Empty>("topic", 5, pub_options);
-
   rclcpp::SubscriptionOptions<> sub_options;
-  auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-    "topic",
+
+  auto topic_only_pub = node->create_publisher<test_msgs::msg::Empty>(
+    "topic_only");
+  auto topic_depth_pub = node->create_publisher<test_msgs::msg::Empty>(
+    "topic_depth",
+    10);
+  auto all_options_pub = node->create_publisher<test_msgs::msg::Empty>(
+    "topic_options",
+    10,
+    pub_options);
+
+  auto topic_only_sub = node->create_subscription<test_msgs::msg::Empty>(
+    "topic_only",
+    [](std::shared_ptr<test_msgs::msg::Empty> test_msg) {(void) test_msg;});
+  auto topic_depth_sub = node->create_subscription<test_msgs::msg::Empty>(
+    "topic_depth",
+    [](std::shared_ptr<test_msgs::msg::Empty> test_msg) {(void) test_msg;},
+    10);
+  auto all_options_sub = node->create_subscription<test_msgs::msg::Empty>(
+    "topic_options",
     [](std::shared_ptr<test_msgs::msg::Empty> test_msg) {(void) test_msg;},
-    5,
+    10,
     sub_options);
 }