Adding NodeInterfaces API Design #714
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Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
Signed-off-by: Lucas Wendland <82680922+CursedRock17@users.noreply.github.com>
Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
ahcorde
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Nov 6, 2024
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I can see many error in the job build https://build.ros2.org/job/Rpr__geometry2__ubuntu_noble_amd64/116/
Let me know when do you need a review.
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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.