Draft: Lifecycle support via rclcpp::NodeInterfaces #351
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Signed-off-by: Dominik Authaler <dominik.authaler@uni-ulm.de>
ahcorde
requested changes
Apr 8, 2025
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Closed in favor of #352 |
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Currently, only a proof of concept, but intended to fix #108 when finished. To keep things simple I started by adding the NodeInterfaces everywhere via pass-by-value, however, changing this in the future should be fairly straightforward.
Corresponding (unfinished) adaptions for the image_transport_plugin repository can be found here, these are currently limited to the compressed image transport.
Before progressing further, I would suggest discussing how the two repository situation with
image_commonandimage_transport_pluginsis handled best. Switching to node interfaces within the message filters repository (ros2/message_filters#113) required ensuring backwards compatibility with deprecation warnings.Unfortunately, the
rclcpp::Nodepointer is part of the plugin interface and thus represents an important link between both repositories. Consequently, I am unsure whether backwards compatibility can be ensured here as well.