ros2
Loaned_Message Method
This is a Pull Request meant to help issue #1699 by creating a new method called take_loaned_message to allow the user the ability to zero-copy passing of loaned_message. There currently wasn't many other options other than those described in the original issue, so this is a good start. I assumed that the solution will be to make a wrapper around the rcl_take_loaned_message function, to provide rclcpp the ability to handle these, and allowing a user to pass a loaned_message via reference or pointer.
On line 615 of executor.cpp there's a TODO message that is based on LoanedMessage support. If my previous commits were a correct implementation, does this mean the Subscription class has method when LoanedMessage is extened to support subscriptions, or would that mean that the LoanedMessage class takes its own Subscription?