Adding NodeInterfaces API Design #714
Draft
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: CursedRock17 <[email protected]>
Signed-off-by: Lucas Wendland <[email protected]>
Signed-off-by: CursedRock17 <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Meant to resolve #698 this pull request deprecates and replaces all instances of
NodeTwithin thegeometry2repo withrclcpp::node_interfaces::NodeInterfaces. This PR also replaces #661 to close #95.While the key is to deprecate the old templated node methods there are some kinks, particularly in the
StaticTransformBroadcasterandTransformBroadcasterclasses in which a dereferenced node will prefer this templated version opposed to an implicit conversion. This is fine if we decide to keep theNodeTconstructors in addition to theNodeInterfacesones, but I feel that's pointless as we're trying to remove as template code here as we can.