concepts

include/interactive_markers/interactive_marker_client.hpp

@@ -49,6 +49,7 @@
 #include "visualization_msgs/srv/get_interactive_markers.hpp"
 
 #include "interactive_markers/message_context.hpp"
+#include "interactive_markers/node_interfaces.hpp"
 #include "interactive_markers/visibility_control.hpp"
 
 namespace interactive_markers
@@ -163,7 +164,7 @@ class InteractiveMarkerClient
    * \param update_sub_qos QoS settings for the underlying update subscription.
    * \param feedback_pub_qos QoS settings for the underlying feedback publisher.
    */
-  template<typename NodePtr, class Rep = int64_t, class Period = std::ratio<1>>
+  template<ClientNodeInterfaces NodePtr, class Rep = int64_t, class Period = std::ratio<1>>
   InteractiveMarkerClient(
     NodePtr node,
     std::shared_ptr<tf2::BufferCoreInterface> tf_buffer_core,

include/interactive_markers/interactive_marker_server.hpp

@@ -46,6 +46,7 @@
 #include "visualization_msgs/msg/interactive_marker_update.hpp"
 #include "visualization_msgs/srv/get_interactive_markers.hpp"
 
+#include "interactive_markers/node_interfaces.hpp"
 #include "interactive_markers/visibility_control.hpp"
 
 namespace interactive_markers
@@ -87,7 +88,7 @@ class InteractiveMarkerServer
     const rclcpp::QoS & update_pub_qos = rclcpp::QoS(100),
     const rclcpp::QoS & feedback_sub_qos = rclcpp::QoS(1));
 
-  template<typename NodePtr>
+  template<ServerNodeInterfaces NodePtr>
   InteractiveMarkerServer(
     const std::string & topic_namespace,
     NodePtr node,

include/interactive_markers/node_interfaces.hpp

@@ -0,0 +1,73 @@
+// Copyright (c) 2026, Open Source Robotics Foundation, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef INTERACTIVE_MARKERS__NODE_INTERFACES_HPP_
+#define INTERACTIVE_MARKERS__NODE_INTERFACES_HPP_
+
+namespace interactive_markers
+{
+
+/// Concept for node-like objects usable to construct an InteractiveMarkerServer.
+/**
+ * Satisfied by any pointer-like handle (e.g. rclcpp::Node::SharedPtr,
+ * rclcpp_lifecycle::LifecycleNode::SharedPtr, or a raw node pointer) that exposes
+ * the node interface accessors the server delegates to in its constructor.
+ *
+ * Constraining the templated constructor with this concept turns a deep, nested
+ * instantiation error into a single "constraint not satisfied" diagnostic pointing
+ * at the offending accessor, and documents the requirement in-signature.
+ */
+template<typename NodePtr>
+concept ServerNodeInterfaces = requires(NodePtr node) {
+  node->get_node_base_interface();
+  node->get_node_clock_interface();
+  node->get_node_logging_interface();
+  node->get_node_topics_interface();
+  node->get_node_services_interface();
+};  // NOLINT(readability/braces): trailing ';' is required for a concept definition
+
+/// Concept for node-like objects usable to construct an InteractiveMarkerClient.
+/**
+ * The same as ServerNodeInterfaces, plus the node graph interface, which the client
+ * additionally requires in order to query the ROS graph.  The accessors are listed
+ * in full (rather than refining ServerNodeInterfaces via '&&') so the client's
+ * complete requirement is visible in one place.
+ */
+template<typename NodePtr>
+concept ClientNodeInterfaces = requires(NodePtr node) {
+  node->get_node_base_interface();
+  node->get_node_clock_interface();
+  node->get_node_logging_interface();
+  node->get_node_topics_interface();
+  node->get_node_services_interface();
+  node->get_node_graph_interface();
+};  // NOLINT(readability/braces): trailing ';' is required for a concept definition
+
+}  // namespace interactive_markers
+
+#endif  // INTERACTIVE_MARKERS__NODE_INTERFACES_HPP_