search

usdot-fhwa-stol / carma-utils

Utility libraries for hardware drivers in the CARMA Platform
2 stars 5 forks source link

Add Humble forward compatibility support for `rclcpp_lifecycle::LifecyclePublisher`s #220

Closed adamlm closed 7 months ago

adamlm commented 7 months ago

PR Details

Description

This PR adds forward compatibility support for ROS Humble for the rclcpp_lifecycle::LifecyclePublisher. The LifecyclePublisher class uses a different base class in Humble than it does in Foxy. The base class from Foxy (rclcpp_lifecycle::LifecyclePublisherInterface) was removed between Foxy and Humble.

We still need to support both ROS releases for now, so we need a shim that can switch conditionally between the two APIs.

Related GitHub Issue

Related Jira Key

Closes CF-811 CF-809

Motivation and Context

Needed for C1T development

How Has This Been Tested?

Compiled with both Foxy and Humble. Humble has build errors, but those are unrelated to this change.

Types of changes

Checklist:

sonarcloud[bot] commented 7 months ago

Quality Gate Passed Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
No data about Coverage
No data about Duplication

See analysis details on SonarCloud