From 1b851c82e11d22119afef679303ea6e415384522 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <hilo.soblin@gmail.com>
Date: Mon, 10 Jun 2024 10:54:44 +0900
Subject: [PATCH] feat(tier4_autoware_utils): add InterProcessPollingSubscriber
 helper factory (#7349)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
 .../tier4_autoware_utils/ros/polling_subscriber.hpp       | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp
index b842261d56cfa..20b67ed13dfb5 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp
+++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp
@@ -27,6 +27,14 @@ namespace tier4_autoware_utils
 template <typename T>
 class InterProcessPollingSubscriber
 {
+public:
+  using SharedPtr = std::shared_ptr<InterProcessPollingSubscriber<T>>;
+  static SharedPtr create_subscription(
+    rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1})
+  {
+    return std::make_shared<InterProcessPollingSubscriber<T>>(node, topic_name, qos);
+  }
+
 private:
   typename rclcpp::Subscription<T>::SharedPtr subscriber_;
   typename T::SharedPtr data_;