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Adding NodeInterfaces API Design#714

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ahcorde merged 5 commits intoros2:rollingfrom
CursedRock17:node_templating
Aug 27, 2025
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Adding NodeInterfaces API Design#714
ahcorde merged 5 commits intoros2:rollingfrom
CursedRock17:node_templating

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@CursedRock17 CursedRock17 commented Oct 12, 2024

Meant to resolve #698 this pull request deprecates and replaces all instances of NodeT within the geometry2 repo with rclcpp::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 StaticTransformBroadcaster and TransformBroadcaster classes in which a dereferenced node will prefer this templated version opposed to an implicit conversion. This is fine if we decide to keep the NodeT constructors in addition to the NodeInterfaces ones, but I feel that's pointless as we're trying to remove as template code here as we can.

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ahcorde requested changes 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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Adding NodeInterfaces API Design
ea6fc61 
Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
@CursedRock17
Rebase/Test fix
df16073 
Signed-off-by: CursedRock17 <mtglucas1@gmail.com>
@CursedRock17
Adding correct deprecation templating
7c39210 
Signed-off-by: Lucas Wendland <mtglucas1@gmail.com>
@CursedRock17 CursedRock17 marked this pull request as ready for review August 15, 2025 03:56
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CursedRock17 commented Aug 15, 2025

Evening @ahcorde, this pull request is now ready for review if you have the bandwidth. A couple things I'd like to stress:

  • To force the compiler to prefer the non-templated variants over the now deprecated constructors, my resolution was to check if the NodeT was actually a shared_ptr, then deference it. So I brought in rcpputils, is this ok?
  • I added deprecated forms of many tests to continously check the deprecated constructors, it adds a bunch of extra tests, but those can be removed in M-turtle.
  • There's now going to be an abundance of deprecation warnings, for many repositories, just TransformBroadcaster has 12K results alone. Is this something that needs to be announced in any capacity, or should I just fix the "main" dependencies?

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ahcorde requested changes Aug 22, 2025
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Adding STD Headers
9146c63 
Signed-off-by: Lucas Wendland <mtglucas1@gmail.com>
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CursedRock17 commented Aug 22, 2025

Headers and Cleanup Changes Implemented.

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ahcorde commented Aug 25, 2025

Pulls: #714
Gist: https://gist.githubusercontent.com/ahcorde/aeb266edba13e8d794f7b6a215113e94/raw/e8164211ede5998be08b658c6d7e5e6580094ef4/ros2.repos
BUILD args: --packages-above-and-dependencies test_tf2 tf2_ros
TEST args: --packages-above test_tf2 tf2_ros
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16788

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

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ahcorde requested changes Aug 25, 2025
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Windows is not compiling https://ci.ros2.org/job/ci_windows/25214/console

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Resolving Deprecations and Windows Warnings
702b73c 
Signed-off-by: Lucas Wendland <mtglucas1@gmail.com>
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CursedRock17 commented Aug 27, 2025

Whoops, forgot visibility headers! Those changes are in, along with some loose deprecation warnings that have been cleaned up.

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ahcorde commented Aug 27, 2025

Pulls: #714
Gist: https://gist.githubusercontent.com/ahcorde/6d434e18a5e696d403b1985760f1128c/raw/e8164211ede5998be08b658c6d7e5e6580094ef4/ros2.repos
BUILD args: --packages-above-and-dependencies test_tf2 tf2_ros
TEST args: --packages-above test_tf2 tf2_ros
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16793

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@ahcorde ahcorde merged commit 46220a6 into ros2:rolling Aug 27, 2025
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@CursedRock17 CursedRock17 deleted the node_templating branch August 27, 2025 12:48
@leander-dsouza leander-dsouza mentioned this pull request Sep 30, 2025
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@nbbrooks nbbrooks mentioned this pull request Oct 7, 2025
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nbbrooks added a commit to moveit/moveit2 that referenced this pull request Oct 12, 2025
@nbbrooks @mosfet80
Fix deprecations in image_common and tf2_ros (#3567)
65aa94c 
* Fix image_common NodeT deprecation warnings from ros-perception/image_common#352 - migrate to NodeInterfaces

* Fix image_common rmw_qos_profile_t deprecation warnings from ros-perception/image_common#364 - migrate to rclcpp::QoS

* Fix rviz update float deprecation warnings from ros2/rviz#1533 - migrate to std::chrono::duration

* Fix geometry2 tf2_ros .h deprecation warnings from ros2/geometry2#805 - migrate Kilted and Rolling to .hpp

* Fix geometry2 tf2_ros NodeT deprecation warnings from ros2/geometry2#714 - migrate to NodeInterfaces

* Fix rclcpp spin_some deprecation warnings from ros2/rclcpp#2848 - migrate to SingleThreadedExecutor

---------

Co-authored-by: Andrea <realeandrea@yahoo.it>
@christophfroehlich christophfroehlich mentioned this pull request Nov 2, 2025
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@mergify mergify bot mentioned this pull request Nov 10, 2025
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helen9975 pushed a commit to personalrobotics/moveit2 that referenced this pull request Feb 17, 2026
@nbbrooks @mosfet80
Fix deprecations in image_common and tf2_ros (moveit#3567)
b7bceea 
* Fix image_common NodeT deprecation warnings from ros-perception/image_common#352 - migrate to NodeInterfaces

* Fix image_common rmw_qos_profile_t deprecation warnings from ros-perception/image_common#364 - migrate to rclcpp::QoS

* Fix rviz update float deprecation warnings from ros2/rviz#1533 - migrate to std::chrono::duration

* Fix geometry2 tf2_ros .h deprecation warnings from ros2/geometry2#805 - migrate Kilted and Rolling to .hpp

* Fix geometry2 tf2_ros NodeT deprecation warnings from ros2/geometry2#714 - migrate to NodeInterfaces

* Fix rclcpp spin_some deprecation warnings from ros2/rclcpp#2848 - migrate to SingleThreadedExecutor

---------

Co-authored-by: Andrea <realeandrea@yahoo.it>
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Instead of templating on NodeT, use rclcpp::node_interfaces::NodeInterfaces instead Lifecycle node support for tf2_ros::MessageFilter

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