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Migrate TransformBroadcaster to use shared_ptr#5569

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SteveMacenski merged 1 commit intoros-navigation:mainfrom
leander-dsouza:migrate-to-node-interfaces
Sep 30, 2025
Merged

Migrate TransformBroadcaster to use shared_ptr#5569
SteveMacenski merged 1 commit intoros-navigation:mainfrom
leander-dsouza:migrate-to-node-interfaces

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@leander-dsouza leander-dsouza commented Sep 30, 2025 •
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Basic Info

Info Please fill out this column
Ticket(s) this addresses Fixes the system_build job
Primary OS tested on Ubuntu
Robotic platform tested on N/A
Does this PR contain AI-generated software? No
Was this PR description generated by AI software? No

Description of contribution in a few bullet points

  • Migrated to use the heap allocation over stack due to the new NodeInterfaces API for TransformBroadcaster enforced in ros2/geometry2.

Description of documentation updates required from your changes

  • N/A

Description of how this change was tested

  • The local build of nav2_route now passes locally - colcon build --packages-select nav2_route.

Future work that may be required in bullet points

  • N/A

For Maintainers:

  • Check that any new parameters added are updated in docs.nav2.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
  • Should this be backported to current distributions? If so, tag with backport-*.

SteveMacenski
SteveMacenski requested changes Sep 30, 2025
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For Kilted/Jazzy support these should be #ifdef ed like the other TF message filter work for API changes so we can support all on the branch

@leander-dsouza leander-dsouza force-pushed the migrate-to-node-interfaces branch from 78b9d6f to 693a327 Compare September 30, 2025 20:43
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SteveMacenski commented Sep 30, 2025

Why do these seem to work?

Maybe just needs node->shared_from_this()?

@leander-dsouza leander-dsouza force-pushed the migrate-to-node-interfaces branch from 693a327 to c879dbd Compare September 30, 2025 21:04
@leander-dsouza leander-dsouza changed the title Migrate TransformBroadcaster to use the new NodeInterfaces API. Migrate TransformBroadcaster to use shared_ptr Sep 30, 2025
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leander-dsouza commented Sep 30, 2025

Why do these seem to work?

Apologies for the oversight. We can use this approach instead of the stack allocation earlier.

@leander-dsouza
Migrate TransformBroadcaster usage to use shared ptr.
d281630 
Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
@leander-dsouza leander-dsouza force-pushed the migrate-to-node-interfaces branch from c879dbd to d281630 Compare September 30, 2025 21:12
@leander-dsouza leander-dsouza marked this pull request as ready for review September 30, 2025 21:18
@SteveMacenski SteveMacenski merged commit 9ed832e into ros-navigation:main Sep 30, 2025
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@SteveMacenski SteveMacenski mentioned this pull request Sep 30, 2025
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SakshayMahna pushed a commit to SakshayMahna/navigation2 that referenced this pull request Oct 4, 2025
@leander-dsouza @SakshayMahna
Migrate TransformBroadcaster usage to use shared ptr. (ros-navigation…
8f698b7 
…#5569)

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
silanus23 pushed a commit to silanus23/navigation2 that referenced this pull request Oct 10, 2025
@leander-dsouza @silanus23
Migrate TransformBroadcaster usage to use shared ptr. (ros-navigation…
e4e01b5 
…#5569)

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
silanus23 pushed a commit to silanus23/navigation2 that referenced this pull request Oct 11, 2025
@leander-dsouza @silanus23
Migrate TransformBroadcaster usage to use shared ptr. (ros-navigation…
86888c6 
…#5569)

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>
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