Use NodeInterfaces for TransformBroadcaster construction

[christophfroehlich]

Fixes

2025-11-02T12:15:39.5228478Z --- stderr: admittance_controller
2025-11-02T12:15:39.5255761Z In file included from �[01m�[K/home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/admittance_controller/test/test_admittance_controller.cpp:17�[m�[K:
2025-11-02T12:15:39.5258958Z �[01m�[K/home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/admittance_controller/test/test_admittance_controller.hpp:�[m�[K In member function ‘�[01m�[Kvoid AdmittanceControllerTest::�[01;32m�[Kbroadcast_tfs�[m�[K()�[m�[K’:
2025-11-02T12:15:39.5265262Z �[01m�[K/home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/admittance_controller/test/test_admittance_controller.hpp:223:67:�[m�[K �[01;35m�[Kwarning: �[m�[K‘�[01m�[Ktf2_ros::TransformBroadcaster::�[01;32m�[KTransformBroadcaster�[m�[K(NodeT&&, const rclcpp::QoS&, const rclcpp::PublisherOptionsWithAllocator<AllocatorT>&) �[35m�[K[with NodeT = std::shared_ptr<rclcpp::Node>&; AllocatorT = std::allocator<void>; typename std::enable_if<rcpputils::is_pointer<T>::value, bool>::type <anonymous> = true]�[m�[K�[m�[K’ is deprecated: Use rclcpp::node_interfaces::NodeInterfaces instead of NodeT [�[01;35m�[K-Wdeprecated-declarations�[m�[K]
2025-11-02T12:15:39.5269779Z   223 |     static tf2_ros::TransformBroadcaster br(test_broadcaster_node_�[01;35m�[K)�[m�[K;
2025-11-02T12:20:19.3672881Z       |                                                                   �[01;35m�[K^�[m�[K
2025-11-02T12:20:19.3674513Z In file included from �[01m�[K/home/runner/work/ros2_controllers/ros2_controllers/.work/target_ws/src/ros2_controllers/admittance_controller/test/test_admittance_controller.hpp:41�[m�[K:
2025-11-02T12:20:19.3676446Z �[01m�[K/opt/ros/rolling/include/tf2_ros/tf2_ros/transform_broadcaster.hpp:92:3:�[m�[K �[01;36m�[Knote: �[m�[Kdeclared here
2025-11-02T12:20:19.3677495Z    92 |   �[01;36m�[KTransformBroadcaster�[m�[K(
2025-11-02T12:20:19.3678340Z       |   �[01;36m�[K^~~~~~~~~~~~~~~~~~~~�[m�[K
2025-11-02T12:20:19.3678735Z ---

from ros2/geometry2#714

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 85.32%. Comparing base (c38468c) to head (de523d2).
⚠️ Report is 3 commits behind head on master.

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1981   +/-   ##
=======================================
  Coverage   85.32%   85.32%           
=======================================
  Files         143      143           
  Lines       13934    13936    +2     
  Branches     1201     1201           
=======================================
+ Hits        11889    11891    +2     
  Misses       1638     1638           
  Partials      407      407           

Flag	Coverage Δ
unittests	85.32% <100.00%> (+<0.01%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...nce_controller/test/test_admittance_controller.hpp	95.10% <100.00%> (+0.05%)	⬆️

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[saikishor]

Looks good to me, but is this only in the tests?

[christophfroehlich]

Looks good to me, but is this only in the tests?

this is the only occurrence of tf2_ros::TransformBroadcaster