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clalancette merged 1 commit into from
Nov 30, 2021
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Notify API breaks (backport #2086) #2152

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16 changes: 16 additions & 0 deletions source/Releases/Release-Humble-Hawksbill.rst
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Expand Up @@ -226,6 +226,22 @@ For more details, see `REP 2007 <https://ros.org/reps/rep-2007.html>`_.

For more details, please refer to this `pull request <https://github.com/ros2/rclcpp/pull/1723>`_.

``add_to_wait_set`` method from ``Waitable`` class changes its return type from ``bool`` to ``void``
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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 <https://github.com/ros2/rclcpp/pull/1612>`__ for more details.

``get_notify_guard_condition`` method return type from ``NodeBaseInterface`` class changed
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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 <https://github.com/ros2/rclcpp/pull/1612>`__ for more details.

ros2cli
^^^^^^^

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