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ros-controls / ros2_control

Generic and simple controls framework for ROS 2
https://control.ros.org
Apache License 2.0
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[Humble backports] Should we backport API change gracefully? #908

Open destogl opened 1 year ago

destogl commented 1 year ago

I would like to merge the API change of adding time and period (#846) on both methods in chainable controllers into humble to, to make the transition simpler and more graceful. Nevertheless, we have to make an ABI change for it. The impact should be little since no many people are using chainable controllers (since there is also no clear documentation about it – shame on me…)

The idea would be the following:

  1. Add new method with parameters as virtual.
  2. Make default implementation that calls the method without parameters and notifies user about its deprecation.
  3. When user overrides the new method, there is also no deprecation notice anymore.

What do you think?

saikishor commented 1 year ago

Hello!

yes, I think it would be interesting to have this in humble, it would be really helpful.

Best Regards, Sai