diff --git a/source/Releases/Release-Humble-Hawksbill.rst b/source/Releases/Release-Humble-Hawksbill.rst index 97e0725c750..fc1edcd4773 100644 --- a/source/Releases/Release-Humble-Hawksbill.rst +++ b/source/Releases/Release-Humble-Hawksbill.rst @@ -226,6 +226,22 @@ For more details, see `REP 2007 `_. For more details, please refer to this `pull request `_. +``add_to_wait_set`` method from ``Waitable`` class changes its return type from ``bool`` to ``void`` +"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" +Before, classes derived from ``Waitable`` overriding ``add_to_wait_set`` were returning false when failing to add elements to the wait set, so the caller had to check this return value and throw or handle the error. +This error handling should now be done directly on ``add_to_wait_set`` method, throwing if necessary. +It is not required to return anything if no errors happened. +Thus, this is a breaking change for downstream uses of ``Waitable``. + +See `ros2/rclcpp#1612 `__ for more details. + +``get_notify_guard_condition`` method return type from ``NodeBaseInterface`` class changed +"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""" +Now ``rclcpp`` uses the ``GuardCondition`` class wrapper around ``rcl_guard_condition_t``, so ``get_notify_guard_condition`` returns a reference to the node's ``rclcpp::GuardCondition``. +Thus, this is a breaking change for downstream uses of ``NodeBaseInterface`` and ``NodeBase``. + +See `ros2/rclcpp#1612 `__ for more details. + ros2cli ^^^^^^^