From 8920034b0a466e88e52bfa4befcee2a980981adf Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Thu, 28 May 2020 14:37:08 -0400 Subject: [PATCH] Add in a release note about the PublisherBase API change. Signed-off-by: Chris Lalancette --- source/Releases/Release-Foxy-Fitzroy.rst | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/source/Releases/Release-Foxy-Fitzroy.rst b/source/Releases/Release-Foxy-Fitzroy.rst index 7604a058ed7..076c42d6b28 100644 --- a/source/Releases/Release-Foxy-Fitzroy.rst +++ b/source/Releases/Release-Foxy-Fitzroy.rst @@ -172,6 +172,13 @@ Instead, use the ``rclcpp::Node`` methods ``add_on_set_parameters_callback`` and Related pull request: https://github.com/ros2/rclcpp/pull/1123 +Breaking change in Publisher getter signature +"""""""""""""""""""""""""""""""""""""""""""""" + +With pull request `ros2/rclcpp#1119 `_, the signature of publisher handle getter has been modified to return shared ownership of the underlying rcl structure (i.e. an ``std::shared_ptr``) instead of a non-owning raw pointer. +This was necessary to fix a segfault in certain circumstances. +Required changes in downstream packages that relied on the previous signature are simple and straightforward: use the ``std::shared_ptr::get()`` method. + rclcpp_action ^^^^^^^^^^^^^