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Add in a release note about the PublisherBase API change. #721

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clalancette merged 1 commit into from
May 28, 2020
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Add in a release note about the PublisherBase API change. #721

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7 changes: 7 additions & 0 deletions source/Releases/Release-Foxy-Fitzroy.rst
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Expand Up @@ -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 <https://github.com/ros2/rclcpp/pull/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
^^^^^^^^^^^^^

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