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wjwwood merged 1 commit into from
Oct 8, 2019
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add notice about API break in rmw #345

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19 changes: 19 additions & 0 deletions source/Releases/Release-Eloquent-Elusor.rst
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Expand Up @@ -54,6 +54,25 @@ Please see the original pr for more detail and comment there if this causes issu

`https://github.com/ros2/rclcpp/pull/867 <https://github.com/ros2/rclcpp/pull/867>`_

rmw
^^^

API Break Due to Addition of Publisher and Subscription Options
"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""

The ``rmw_create_publisher()`` method had a new argument added of type ``const rmw_publisher_options_t *``.
This new structure holds options (beyond the typesupport, topic name, and QoS) for new publishers.

The ``rmw_create_subscription()`` method had one argument removed, ``bool ignore_local_publications``, and replaced by the new options of type ``const rmw_subscription_options_t *``.
The ``ignore_local_publications`` option was moved into the new ``rmw_subscription_options_t`` type.

In both cases the new argument, which are pointers, may never be null, and so the rmw implementations should check to make sure the options are not null.
Additionally, the options should be copied into the corresponding rmw structure.

See this pull request, and the associated pull requests for more details:

`https://github.com/ros2/rmw/pull/187 <https://github.com/ros2/rmw/pull/187>`_

Timeline before the release
---------------------------

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