Cannot create subscription to member function with extra argument using std::bind

[sloretz]

Bug report

Required Info:

• Operating System:
  • Bionic
• Installation type:
  • Binaries
• Version or commit hash:
  • 0.7.6-1bionic.20190612.221051
• DDS implementation:
  • Fast-RTPS
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

Build this node, uncommenting each attempt to create the callback one at a time

#include <rclcpp/rclcpp.hpp>

#include <std_msgs/msg/string.hpp>

#include <functional>

class BindBug : public rclcpp::Node
{
public:
  explicit BindBug(const rclcpp::NodeOptions & options)
  : rclcpp::Node("bind_bug", options)
  {
    // First callback
    ///*
    auto callback = std::bind(
      &BindBug::on_msg,
      this,
      1,
      std::placeholders::_1);
    //*/

    // Second callback
    /*
    std::function<void(StringMsg::ConstSharedPtr)> callback = std::bind(
      &BindBug::on_msg,
      this,
      2,
      std::placeholders::_1);
    */

    // third callback
    /*
    auto callback =
      [this](StringMsg::ConstSharedPtr msg) {
        on_msg(3, msg);
      };
    */

    // Fourth callback
    /*
    auto callback = std::bind(
      &BindBug::reversed_on_msg,
      this,
      std::placeholders::_1,
      4);
    */

    // Fifth callback
    /*
    std::function<void(StringMsg::ConstSharedPtr)> callback = std::bind(
      &BindBug::reversed_on_msg,
      this,
      std::placeholders::_1,
      5);
    */
    
    sub_ = rclcpp::create_subscription<StringMsg>(
      this,
      "chatter",
      rclcpp::QoS(rclcpp::KeepLast(1)),
      callback);
  }

  virtual ~BindBug() = default;

private:
  using StringMsg = std_msgs::msg::String;

  void
  on_msg(size_t not_the_message, StringMsg::ConstSharedPtr msg)
  {
    RCLCPP_INFO(get_logger(), "Callback with [%zu] message '%s'", not_the_message, msg->data.c_str());
  }

  void
  reversed_on_msg(StringMsg::ConstSharedPtr msg, size_t not_the_message)
  {
    RCLCPP_INFO(get_logger(), "Callback with [%zu] message '%s'", not_the_message, msg->data.c_str());
  }

  rclcpp::Subscription<StringMsg>::SharedPtr sub_;
};


int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);

  rclcpp::NodeOptions opts;
  auto node = std::make_shared<BindBug>(opts);
  rclcpp::spin(node);

  rclcpp::shutdown();
  return 0;
}

Start the node and publish a string message

ros2 topic pub --once /chatter std_msgs/msg/String "{data: 'Hello world'}"

Expected behavior

All attempts at creating a subscription with a callback would work.

Actual behavior

First callback does not compile

Long compile output

/home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp: In constructor 'BindBug::BindBug(const rclcpp::NodeOptions&)':
/home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp:61:15: error: no match for 'operator=' (operand types are 'rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > >::SharedPtr {aka std::shared_ptr<rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > > >}' and 'std::shared_ptr<rclcpp::Subscription<long unsigned int, std::allocator<void> > >')
       callback);
               ^
In file included from /usr/include/c++/7/memory:81:0,
                 from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:142,
                 from /home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp:1:
/usr/include/c++/7/bits/shared_ptr.h:296:19: note: candidate: std::shared_ptr<_Tp>& std::shared_ptr<_Tp>::operator=(const std::shared_ptr<_Tp>&) [with _Tp = rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > >]
       shared_ptr& operator=(const shared_ptr&) noexcept = default;
                   ^~~~~~~~
/usr/include/c++/7/bits/shared_ptr.h:296:19: note:   no known conversion for argument 1 from 'std::shared_ptr<rclcpp::Subscription<long unsigned int, std::allocator<void> > >' to 'const std::shared_ptr<rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > > >&'
/usr/include/c++/7/bits/shared_ptr.h:300:2: note: candidate: template<class _Yp> std::shared_ptr<_Tp>::_Assignable<const std::shared_ptr<_Yp>&> std::shared_ptr<_Tp>::operator=(const std::shared_ptr<_Yp>&) [with _Yp = _Yp; _Tp = rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > >]
  operator=(const shared_ptr<_Yp>& __r) noexcept
  ^~~~~~~~
/usr/include/c++/7/bits/shared_ptr.h:300:2: note:   template argument deduction/substitution failed:
/usr/include/c++/7/bits/shared_ptr.h:309:2: note: candidate: template<class _Yp> std::shared_ptr<_Tp>::_Assignable<std::auto_ptr<_Up> > std::shared_ptr<_Tp>::operator=(std::auto_ptr<_Up>&&) [with _Yp = _Yp; _Tp = rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > >]
  operator=(auto_ptr<_Yp>&& __r)
  ^~~~~~~~
/usr/include/c++/7/bits/shared_ptr.h:309:2: note:   template argument deduction/substitution failed:
/home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp:61:15: note:   'std::shared_ptr<rclcpp::Subscription<long unsigned int, std::allocator<void> > >' is not derived from 'std::auto_ptr<_Up>'
       callback);
               ^
In file included from /usr/include/c++/7/memory:81:0,
                 from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:142,
                 from /home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp:1:
/usr/include/c++/7/bits/shared_ptr.h:317:7: note: candidate: std::shared_ptr<_Tp>& std::shared_ptr<_Tp>::operator=(std::shared_ptr<_Tp>&&) [with _Tp = rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > >]
       operator=(shared_ptr&& __r) noexcept
       ^~~~~~~~
/usr/include/c++/7/bits/shared_ptr.h:317:7: note:   no known conversion for argument 1 from 'std::shared_ptr<rclcpp::Subscription<long unsigned int, std::allocator<void> > >' to 'std::shared_ptr<rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > > >&&'
/usr/include/c++/7/bits/shared_ptr.h:325:2: note: candidate: template<class _Yp> std::shared_ptr<_Tp>::_Assignable<std::shared_ptr<_Yp> > std::shared_ptr<_Tp>::operator=(std::shared_ptr<_Yp>&&) [with _Yp = _Yp; _Tp = rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > >]
  operator=(shared_ptr<_Yp>&& __r) noexcept
  ^~~~~~~~
/usr/include/c++/7/bits/shared_ptr.h:325:2: note:   template argument deduction/substitution failed:
/usr/include/c++/7/bits/shared_ptr.h:333:2: note: candidate: template<class _Yp, class _Del> std::shared_ptr<_Tp>::_Assignable<std::unique_ptr<_Up, _Ep> > std::shared_ptr<_Tp>::operator=(std::unique_ptr<_Up, _Ep>&&) [with _Yp = _Yp; _Del = _Del; _Tp = rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > >]
  operator=(unique_ptr<_Yp, _Del>&& __r)
  ^~~~~~~~
/usr/include/c++/7/bits/shared_ptr.h:333:2: note:   template argument deduction/substitution failed:
/home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp:61:15: note:   'std::shared_ptr<rclcpp::Subscription<long unsigned int, std::allocator<void> > >' is not derived from 'std::unique_ptr<_Tp, _Dp>'
       callback);
               ^
In file included from /opt/ros/dashing/include/rclcpp/node_interfaces/node_topics_interface.hpp:29:0,
                 from /opt/ros/dashing/include/rclcpp/node.hpp:53,
                 from /opt/ros/dashing/include/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/dashing/include/rclcpp/executors.hpp:22,
                 from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:144,
                 from /home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp:1:
/opt/ros/dashing/include/rclcpp/subscription_factory.hpp: In instantiation of 'rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionEventCallbacks&, typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr, std::shared_ptr<PublisherT>) [with MessageT = std_msgs::msg::String_<std::allocator<void> >; CallbackT = std::_Bind<void (BindBug::*(BindBug*, int, std::_Placeholder<1>))(long unsigned int, std::shared_ptr<const std_msgs::msg::String_<std::allocator<void> > >)>&; Alloc = std::allocator<void>; CallbackMessageT = long unsigned int; SubscriptionT = rclcpp::Subscription<long unsigned int, std::allocator<void> >; typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<long unsigned int, std::allocator<void> > >]':
/opt/ros/dashing/include/rclcpp/create_subscription.hpp:115:71:   required from 'std::shared_ptr<SubscriptionT> rclcpp::create_subscription(NodeT&&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr) [with MessageT = std_msgs::msg::String_<std::allocator<void> >; CallbackT = std::_Bind<void (BindBug::*(BindBug*, int, std::_Placeholder<1>))(long unsigned int, std::shared_ptr<const std_msgs::msg::String_<std::allocator<void> > >)>&; AllocatorT = std::allocator<void>; CallbackMessageT = long unsigned int; SubscriptionT = rclcpp::Subscription<long unsigned int, std::allocator<void> >; NodeT = BindBug*; std::__cxx11::string = std::__cxx11::basic_string<char>; typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<long unsigned int, std::allocator<void> > >]'
/home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp:61:15:   required from here
/opt/ros/dashing/include/rclcpp/subscription_factory.hpp:88:3: error: no matching function for call to 'rclcpp::AnySubscriptionCallback<long unsigned int, std::allocator<void> >::set(std::_Bind<void (BindBug::*(BindBug*, int, std::_Placeholder<1>))(long unsigned int, std::shared_ptr<const std_msgs::msg::String_<std::allocator<void> > >)>&)'
   any_subscription_callback.set(std::forward<CallbackT>(callback));
   ^~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/dashing/include/rclcpp/subscription_base.hpp:28:0,
                 from /opt/ros/dashing/include/rclcpp/intra_process_manager_impl.hpp:38,
                 from /opt/ros/dashing/include/rclcpp/intra_process_manager.hpp:32,
                 from /opt/ros/dashing/include/rclcpp/publisher.hpp:35,
                 from /opt/ros/dashing/include/rclcpp/callback_group.hpp:24,
                 from /opt/ros/dashing/include/rclcpp/any_executable.hpp:20,
                 from /opt/ros/dashing/include/rclcpp/memory_strategy.hpp:24,
                 from /opt/ros/dashing/include/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/dashing/include/rclcpp/executor.hpp:32,
                 from /opt/ros/dashing/include/rclcpp/executors/multi_threaded_executor.hpp:24,
                 from /opt/ros/dashing/include/rclcpp/executors.hpp:21,
                 from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:144,
                 from /home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp:1:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:80:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<long unsigned int>)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<_Tp>)> >::value>::type* <anonymous> = <enumerator>; MessageT = long unsigned int; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:80:8: note:   template argument deduction/substitution failed:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:78:17: error: no type named 'type' in 'struct std::enable_if<false, void>'
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:78:17: note: invalid template non-type parameter
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:94:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<long unsigned int>, const rmw_message_info_t&)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<_Tp>, const rmw_message_info_t&)> >::value>::type* <anonymous> = <enumerator>; MessageT = long unsigned int; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:94:8: note:   template argument deduction/substitution failed:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:92:17: error: no type named 'type' in 'struct std::enable_if<false, void>'
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:92:17: note: invalid template non-type parameter
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:108:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const long unsigned int>)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const _Tp>)> >::value>::type* <anonymous> = <enumerator>; MessageT = long unsigned int; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:108:8: note:   template argument deduction/substitution failed:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:106:17: error: no type named 'type' in 'struct std::enable_if<false, void>'
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:106:17: note: invalid template non-type parameter
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:122:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const long unsigned int>, const rmw_message_info_t&)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const _Tp>, const rmw_message_info_t&)> >::value>::type* <anonymous> = <enumerator>; MessageT = long unsigned int; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:122:8: note:   template argument deduction/substitution failed:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:120:17: error: no type named 'type' in 'struct std::enable_if<false, void>'
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:120:17: note: invalid template non-type parameter
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:136:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<long unsigned int, std::default_delete<long unsigned int> >)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<T, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<T>::allocator_type>::rebind_alloc<T>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<T>::allocator_type> >::type>)> >::value>::type* <anonymous> = <enumerator>; MessageT = long unsigned int; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:136:8: note:   template argument deduction/substitution failed:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:134:17: error: no type named 'type' in 'struct std::enable_if<false, void>'
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:134:17: note: invalid template non-type parameter
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:150:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<long unsigned int, std::default_delete<long unsigned int> >, const rmw_message_info_t&)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<T, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<T>::allocator_type>::rebind_alloc<T>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<T>::allocator_type> >::type>, const rmw_message_info_t&)> >::value>::type* <anonymous> = <enumerator>; MessageT = long unsigned int; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:150:8: note:   template argument deduction/substitution failed:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:148:17: error: no type named 'type' in 'struct std::enable_if<false, void>'
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:148:17: note: invalid template non-type parameter
In file included from /usr/include/c++/7/future:48:0,
                 from /opt/ros/dashing/include/rclcpp/executors.hpp:18,
                 from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:144,
                 from /home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp:1:
/usr/include/c++/7/bits/std_function.h: At global scope:
/usr/include/c++/7/bits/std_function.h:541:2: error: 'std::function<_Res(_ArgTypes ...)>::_Requires<std::function<_Res(_ArgTypes ...)>::_Callable<typename std::decay<_U1>::type>, std::function<_Res(_ArgTypes ...)>&> std::function<_Res(_ArgTypes ...)>::operator=(_Functor&&) [with _Functor = rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionEventCallbacks&, typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr, std::shared_ptr<PublisherT>) [with MessageT = std_msgs::msg::String_<std::allocator<void> >; CallbackT = std::_Bind<void (BindBug::*(BindBug*, int, std::_Placeholder<1>))(long unsigned int, std::shared_ptr<const std_msgs::msg::String_<std::allocator<void> > >)>&; Alloc = std::allocator<void>; CallbackMessageT = long unsigned int; SubscriptionT = rclcpp::Subscription<long unsigned int, std::allocator<void> >; typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<long unsigned int, std::allocator<void> > >]::<lambda(rclcpp::node_interfaces::NodeBaseInterface*, const string&, const rcl_subscription_options_t&)>; _Res = std::shared_ptr<rclcpp::SubscriptionBase>; _ArgTypes = {rclcpp::node_interfaces::NodeBaseInterface*, const std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, const rcl_subscription_options_t&}; std::function<_Res(_ArgTypes ...)>::_Requires<std::function<_Res(_ArgTypes ...)>::_Callable<typename std::decay<_U1>::type>, std::function<_Res(_ArgTypes ...)>&> = std::function<std::shared_ptr<rclcpp::SubscriptionBase>(rclcpp::node_interfaces::NodeBaseInterface*, const std::__cxx11::basic_string<char>&, const rcl_subscription_options_t&)>&]', declared using local type 'rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionEventCallbacks&, typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr, std::shared_ptr<PublisherT>) [with MessageT = std_msgs::msg::String_<std::allocator<void> >; CallbackT = std::_Bind<void (BindBug::*(BindBug*, int, std::_Placeholder<1>))(long unsigned int, std::shared_ptr<const std_msgs::msg::String_<std::allocator<void> > >)>&; Alloc = std::allocator<void>; CallbackMessageT = long unsigned int; SubscriptionT = rclcpp::Subscription<long unsigned int, std::allocator<void> >; typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<long unsigned int, std::allocator<void> > >]::<lambda(rclcpp::node_interfaces::NodeBaseInterface*, const string&, const rcl_subscription_options_t&)>', is used but never defined [-fpermissive]
  operator=(_Functor&& __f)
  ^~~~~~~~
make[2]: *** [CMakeFiles/bind_bug.dir/src/bind_bug.cpp.o] Error 1
make[1]: *** [CMakeFiles/bind_bug.dir/all] Error 2
make: *** [all] Error 2

Second callback (bind assigned to std::function) works fine

[INFO] [bind_bug]: Callback with [2] message 'Hello world'

Third callback (wrapping call with lambda) works fine

[INFO] [bind_bug]: Callback with [3] message 'Hello world'

Fourth callback (reversed argument order to bind) fails to compile

Long compile output

In file included from /opt/ros/dashing/include/rclcpp/node_interfaces/node_topics_interface.hpp:29:0,
                 from /opt/ros/dashing/include/rclcpp/node.hpp:53,
                 from /opt/ros/dashing/include/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/dashing/include/rclcpp/executors.hpp:22,
                 from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:144,
                 from /home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp:1:
/opt/ros/dashing/include/rclcpp/subscription_factory.hpp: In instantiation of 'rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionEventCallbacks&, typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr, std::shared_ptr<PublisherT>) [with MessageT = std_msgs::msg::String_<std::allocator<void> >; CallbackT = std::_Bind<void (BindBug::*(BindBug*, std::_Placeholder<1>, int))(std::shared_ptr<const std_msgs::msg::String_<std::allocator<void> > >, long unsigned int)>&; Alloc = std::allocator<void>; CallbackMessageT = std_msgs::msg::String_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > >; typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::String_<std::allocator<void> >, std::allocator<void> > >]':
/opt/ros/dashing/include/rclcpp/create_subscription.hpp:115:71:   required from 'std::shared_ptr<SubscriptionT> rclcpp::create_subscription(NodeT&&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr) [with MessageT = std_msgs::msg::String_<std::allocator<void> >; CallbackT = std::_Bind<void (BindBug::*(BindBug*, std::_Placeholder<1>, int))(std::shared_ptr<const std_msgs::msg::String_<std::allocator<void> > >, long unsigned int)>&; AllocatorT = std::allocator<void>; CallbackMessageT = std_msgs::msg::String_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > >; NodeT = BindBug*; std::__cxx11::string = std::__cxx11::basic_string<char>; typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::String_<std::allocator<void> >, std::allocator<void> > >]'
/home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp:61:15:   required from here
/opt/ros/dashing/include/rclcpp/subscription_factory.hpp:88:3: error: no matching function for call to 'rclcpp::AnySubscriptionCallback<std_msgs::msg::String_<std::allocator<void> >, std::allocator<void> >::set(std::_Bind<void (BindBug::*(BindBug*, std::_Placeholder<1>, int))(std::shared_ptr<const std_msgs::msg::String_<std::allocator<void> > >, long unsigned int)>&)'
   any_subscription_callback.set(std::forward<CallbackT>(callback));
   ^~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/dashing/include/rclcpp/subscription_base.hpp:28:0,
                 from /opt/ros/dashing/include/rclcpp/intra_process_manager_impl.hpp:38,
                 from /opt/ros/dashing/include/rclcpp/intra_process_manager.hpp:32,
                 from /opt/ros/dashing/include/rclcpp/publisher.hpp:35,
                 from /opt/ros/dashing/include/rclcpp/callback_group.hpp:24,
                 from /opt/ros/dashing/include/rclcpp/any_executable.hpp:20,
                 from /opt/ros/dashing/include/rclcpp/memory_strategy.hpp:24,
                 from /opt/ros/dashing/include/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/dashing/include/rclcpp/executor.hpp:32,
                 from /opt/ros/dashing/include/rclcpp/executors/multi_threaded_executor.hpp:24,
                 from /opt/ros/dashing/include/rclcpp/executors.hpp:21,
                 from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:144,
                 from /home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp:1:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:80:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > >)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<_Tp>)> >::value>::type* <anonymous> = <enumerator>; MessageT = std_msgs::msg::String_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:80:8: note:   template argument deduction/substitution failed:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:78:17: error: no type named 'type' in 'struct std::enable_if<false, void>'
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:78:17: note: invalid template non-type parameter
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:94:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<std_msgs::msg::String_<std::allocator<void> > >, const rmw_message_info_t&)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<_Tp>, const rmw_message_info_t&)> >::value>::type* <anonymous> = <enumerator>; MessageT = std_msgs::msg::String_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:94:8: note:   template argument deduction/substitution failed:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:92:17: error: no type named 'type' in 'struct std::enable_if<false, void>'
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:92:17: note: invalid template non-type parameter
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:108:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const std_msgs::msg::String_<std::allocator<void> > >)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const _Tp>)> >::value>::type* <anonymous> = <enumerator>; MessageT = std_msgs::msg::String_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:108:8: note:   template argument deduction/substitution failed:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:106:17: error: no type named 'type' in 'struct std::enable_if<false, void>'
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:106:17: note: invalid template non-type parameter
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:122:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const std_msgs::msg::String_<std::allocator<void> > >, const rmw_message_info_t&)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<const _Tp>, const rmw_message_info_t&)> >::value>::type* <anonymous> = <enumerator>; MessageT = std_msgs::msg::String_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:122:8: note:   template argument deduction/substitution failed:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:120:17: error: no type named 'type' in 'struct std::enable_if<false, void>'
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:120:17: note: invalid template non-type parameter
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:136:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<std_msgs::msg::String_<std::allocator<void> >, std::default_delete<std_msgs::msg::String_<std::allocator<void> > > >)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<T, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<T>::allocator_type>::rebind_alloc<T>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<T>::allocator_type> >::type>)> >::value>::type* <anonymous> = <enumerator>; MessageT = std_msgs::msg::String_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:136:8: note:   template argument deduction/substitution failed:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:134:17: error: no type named 'type' in 'struct std::enable_if<false, void>'
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:134:17: note: invalid template non-type parameter
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:150:8: note: candidate: template<class CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<std_msgs::msg::String_<std::allocator<void> >, std::default_delete<std_msgs::msg::String_<std::allocator<void> > > >, const rmw_message_info_t&)> >::value, void>::type* <anonymous> > void rclcpp::AnySubscriptionCallback<MessageT, Alloc>::set(CallbackT) [with CallbackT = CallbackT; typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::unique_ptr<T, typename std::conditional<std::is_same<typename std::allocator_traits<typename std::allocator_traits<_Alloc>::rebind_traits<T>::allocator_type>::rebind_alloc<T>, typename std::allocator<void>::rebind<_Tp1>::other>::value, std::default_delete<_Tp>, rclcpp::allocator::AllocatorDeleter<typename std::allocator_traits<_Alloc>::rebind_traits<T>::allocator_type> >::type>, const rmw_message_info_t&)> >::value>::type* <anonymous> = <enumerator>; MessageT = std_msgs::msg::String_<std::allocator<void> >; Alloc = std::allocator<void>]
   void set(CallbackT callback)
        ^~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:150:8: note:   template argument deduction/substitution failed:
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:148:17: error: no type named 'type' in 'struct std::enable_if<false, void>'
     >::type * = nullptr
                 ^~~~~~~
/opt/ros/dashing/include/rclcpp/any_subscription_callback.hpp:148:17: note: invalid template non-type parameter
In file included from /usr/include/c++/7/future:48:0,
                 from /opt/ros/dashing/include/rclcpp/executors.hpp:18,
                 from /opt/ros/dashing/include/rclcpp/rclcpp.hpp:144,
                 from /home/sloretz/workspaces/dashing/src/lifecycle_manager/src/bind_bug.cpp:1:
/usr/include/c++/7/bits/std_function.h:541:2: error: 'std::function<_Res(_ArgTypes ...)>::_Requires<std::function<_Res(_ArgTypes ...)>::_Callable<typename std::decay<_U1>::type>, std::function<_Res(_ArgTypes ...)>&> std::function<_Res(_ArgTypes ...)>::operator=(_Functor&&) [with _Functor = rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionEventCallbacks&, typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr, std::shared_ptr<PublisherT>) [with MessageT = std_msgs::msg::String_<std::allocator<void> >; CallbackT = std::_Bind<void (BindBug::*(BindBug*, std::_Placeholder<1>, int))(std::shared_ptr<const std_msgs::msg::String_<std::allocator<void> > >, long unsigned int)>&; Alloc = std::allocator<void>; CallbackMessageT = std_msgs::msg::String_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > >; typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::String_<std::allocator<void> >, std::allocator<void> > >]::<lambda(rclcpp::node_interfaces::NodeBaseInterface*, const string&, const rcl_subscription_options_t&)>; _Res = std::shared_ptr<rclcpp::SubscriptionBase>; _ArgTypes = {rclcpp::node_interfaces::NodeBaseInterface*, const std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, const rcl_subscription_options_t&}; std::function<_Res(_ArgTypes ...)>::_Requires<std::function<_Res(_ArgTypes ...)>::_Callable<typename std::decay<_U1>::type>, std::function<_Res(_ArgTypes ...)>&> = std::function<std::shared_ptr<rclcpp::SubscriptionBase>(rclcpp::node_interfaces::NodeBaseInterface*, const std::__cxx11::basic_string<char>&, const rcl_subscription_options_t&)>&]', declared using local type 'rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionEventCallbacks&, typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr, std::shared_ptr<PublisherT>) [with MessageT = std_msgs::msg::String_<std::allocator<void> >; CallbackT = std::_Bind<void (BindBug::*(BindBug*, std::_Placeholder<1>, int))(std::shared_ptr<const std_msgs::msg::String_<std::allocator<void> > >, long unsigned int)>&; Alloc = std::allocator<void>; CallbackMessageT = std_msgs::msg::String_<std::allocator<void> >; SubscriptionT = rclcpp::Subscription<std_msgs::msg::String_<std::allocator<void> > >; typename rclcpp::message_memory_strategy::MessageMemoryStrategy<CallbackMessageT, Alloc>::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<std_msgs::msg::String_<std::allocator<void> >, std::allocator<void> > >]::<lambda(rclcpp::node_interfaces::NodeBaseInterface*, const string&, const rcl_subscription_options_t&)>', is used but never defined [-fpermissive]
  operator=(_Functor&& __f)
  ^~~~~~~~
make[2]: *** [CMakeFiles/bind_bug.dir/src/bind_bug.cpp.o] Error 1
make[1]: *** [CMakeFiles/bind_bug.dir/all] Error 2
make: *** [all] Error 2

Fifth callback (Reversed argument order with bind assigned to std::function) works fine

[INFO] [bind_bug]: Callback with [5] message 'Hello world'

Additional information

[wjwwood]

I think this is the issue that may be related:

#583

And the ROS answer referenced from that issue:

https://answers.ros.org/question/308386/ros2-add-arguments-to-callback/

[Karsten1987]

same thing as #273 ?

[dirk-thomas]

To summarize: I think the failing cases are not supported since we can't ensure at compile time that the signature using std::bind is correct. Therefore I will go ahead and close this ticket.

Please feel free to continue commenting on it and it can be reopened if necessary.