Expose `typesupport_helpers` API needed for the Rosbag2 by MichaelOrlov · Pull Request #2858 · ros2/rclcpp

MichaelOrlov · 2025-05-25T00:59:38Z

Description

This PR exposes extract_type_identifier(const std::string & full_type) and get_typesupport_library_path( const std::string & package_name, const std::string & typesupport_identifier) API to be publicly available for usage from other packages.

Rationale:

In Rosbag2 we need to use extract_type_identifier(const std::string & full_type) and get_typesupport_library_path( const std::string & package_name, const std::string & typesupport_identifier) API from the RCLCPP package in order to get rid of the code duplication and possible implementation divergences in the future for the same utility functions.
Please refer to the relevant Rosbag2 PR Use rclcpp type support helpers in rosbag2_cpp rosbag2#2017

Fixes # (issue) N/A

Is this user-facing behavior change?

No.

Did you use Generative AI?

Yes. Github Copilot, GPT-4.1, to help write Doxygen comments for the API.

Additional Information

MichaelOrlov · 2025-05-25T01:23:09Z

Rpr CI build failed with error message:

18:04:22 --- stderr: rclcpp_lifecycle
18:04:22 /tmp/ws/src/rclcpp/rclcpp_lifecycle/src/lifecycle_node_interface_impl.cpp: In member function ‘rcl_ret_t rclcpp_lifecycle::LifecycleNode::LifecycleNodeInterfaceImpl::change_state(uint8_t, rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn&)’:
18:04:22 /tmp/ws/src/rclcpp/rclcpp_lifecycle/src/lifecycle_node_interface_impl.cpp:412:39: error: ‘rcl_lifecycle_get_transition_label_by_id’ was not declared in this scope; did you mean ‘rcl_lifecycle_get_transition_by_id’?
18:04:22   412 |       const char * transition_label = rcl_lifecycle_get_transition_label_by_id(
18:04:22       |                                       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
18:04:22       |                                       rcl_lifecycle_get_transition_by_id
18:04:22 gmake[2]: *** [CMakeFiles/rclcpp_lifecycle.dir/build.make:90: CMakeFiles/rclcpp_lifecycle.dir/src/lifecycle_node_interface_impl.cpp.o] Error 1
18:04:22 gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/rclcpp_lifecycle.dir/all] Error 2
18:04:22 gmake: *** [Makefile:146: all] Error 2

But it seems unrelated to the changes from this PR.

MichaelOrlov · 2025-05-25T01:23:26Z

@ros-pull-request-builder retest this please

christophebedard · 2025-05-27T20:32:16Z

rclcpp/include/rclcpp/typesupport_helpers.hpp

-/// Load the type support library for the given type.
-/**
- * \param[in] type The topic type, e.g. "std_msgs/msg/String"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \return A shared library
- */


I think exposing these makes sense, but I'd prefer keeping this documentation style, since all of rclcpp uses /// for the one-line function summary and/** ... */ for the rest.

I want to keep changed C++ style for the Doxygen comments.
If someone was wrong doing in the style of the Doxygen comments, it doesn't necessarily mean that everybody should repeat and follow this bad style.

First of all C style doxygen comments should be used only for C files and C++ header files which could participate in the compilation with C compiler when present and used C compatible API. This is true for the RCL, RCLUTILS and sometimes for the RMW header files when they need to be used from the RCL packages.
There are no benefits to using C style in C++ code.
This is the same as asking someone to use malloc instead of new with unique_ptr or shared_ptr in C++ files just because in other files, historically, from the ancient ages was used malloc.
Moreover, in case of the RCLCPP package the current style for the Doxygen comments this is not even a pure C style. This is total mess!
In Doxygen ///: Used for a one-line comment or to document a single line of code. This is typically used for short summaries or descriptions that fit on one line.

/// This function adds two numbers. int add(int a, int b);

By the way, C compiler will not understand comments with ///.
In Doxygen the /** ... */: Used for multi-line comments. This is typically for more detailed documentation, including function descriptions, parameters, return values, and any additional information you want to include. It's common to start with /** and end with */.

/** * Adds two integers. * This function takes two integers as arguments and returns their sum. * * @param a The first integer. * @param b The second integer. * @return The sum of a and b. */ int add(int a, int b);

We have used both of them for no reason. Moreover, to strictly follow Doxygen syntax, the brief multiline description, details, or notes should be prefixed with the appropriate Doxygen tags like \brief, \notes, \details, \warning, etc.
In the current "RCLCP Doxygen" style, nobody follows this convention, and our documentation is often messy. It is not bad, but it could be more structured and concise with the appropriate tags.

From my personal experience, I found that using /// style in the C++ files is more concise and structured, and as on the opposite side, using /** ... */ very often clutters the code and comments with dummy empty lines with /**, */ and make content less readable for user. On average, I need more time to read and understand Doxygen comments written with the cluttered /** ... */ rather than with the short and concise /// style. That is almost the same as comparing YAML and XML formats for human reading and comprehension.

By the way, the claim that all files in the RCLCPP package are written in this file is not true, I found at least one header file https://github.com/ros2/rclcpp/blob/rolling/rclcpp/include/rclcpp/parameter_map.hpp with the /// Doxygen style.

If you want to change the comment style in this case, just open a separate PR and this can be discussed there. This PR seems to be about exposing functions, not about changing documentation style.

I've spent my time over the weekend making the Doxygen documentation in the typesupport_helpers.hpp look the best way and comply with the best Doxygen practice and now you are asking me to revert it back to the more or less "uglish" stage and create a separate PR just for Doxygen changes.
That is ridiculous!
I can revert it to make it look like an "original" from the ancient ages. However, I will not create a separate PR just for the Doxygen changes and try to convince someone to accept them. I have more important things to do on my plate.
BTW, such a restrictive approach will not make the ROS 2 core code better.

https://docs.ros.org/en/rolling/The-ROS2-Project/Contributing/Code-Style-Language-Versions.html#comments-and-doc-comments, we accept both cases.

Hm, this is not helpful. I would suggest to move this to the PMC and agree on one standard.
I don't want to end up in a situation were developer A changes the doc style to one style in every file he touches, and developer B changes is back to a different style. This is just counter productive.

I just have two separate points:

As mentioned above, we don't have a clear single choice for documentation style, which is mostly fine, because it's "just" documentation. I also don't think we should spend a ton of time on it (I also have more important things to do), and I don't think we should start pushing all decisions to the PMC meetings. However, if we want to keep things less restrictive, I think what's left is the "consistency principle," i.e., keep the documentation style/whatever consistent. rclcpp is mostly using this style, so I don't see a strong reason to change it.

We shouldn't bundle unrelated changes in the same PR. Keeping things separate makes reviews and backports much easier, as Tomoya said. If you think this style is better technically for Doxygen, then that's good to know, but let's consider and discuss that change in its own PR.

If other maintainers want to take this PR as-is, then go for it.

I would vote for the consistency on a per-file basis rather than on a per-package basis.
This way, we can gradually improve the quality of the Doxygen comments.
As I mentioned above, we already have at least one file https://github.com/ros2/rclcpp/blob/rolling/rclcpp/include/rclcpp/parameter_map.hpp with the /// Doxygen style.

We shouldn't bundle unrelated changes in the same PR. Keeping things separate makes reviews and backports much easier, as Tomoya said. If you think this style is better technically for Doxygen, then that's good to know, but let's consider and discuss that change in its own PR.

basically i will stand with this, this is practically useful and good maintainability for downstream branches. but with this one, maybe there would not be any conflicts for downstream branches. so i think that would be okay.

fujitatomoya

lgtm.

i am not even sure why those APIs are not exposed before. i think it would be better to expose them, so that other application and libraries can depend on it.

fujitatomoya · 2025-05-29T21:22:01Z

rclcpp/include/rclcpp/typesupport_helpers.hpp

-/// Load the type support library for the given type.
-/**
- * \param[in] type The topic type, e.g. "std_msgs/msg/String"
- * \param[in] typesupport_identifier Type support identifier, typically "rosidl_typesupport_cpp"
- * \return A shared library
- */


usually breaking down the PR into specific changes would be easier to backport for the downstream branches for the maintainability, but i do not mind that for this PR. it changes this file anyway. and the doc fix is minor so if we want to, we can pick this change to downstream branches. or maybe we do not need the backport... this kind of refactoring is not mandatory, we can just wait it out.

ahcorde · 2025-06-04T15:19:44Z

Pulls: #2858
Gist: https://gist.githubusercontent.com/ahcorde/aba9089c471b37ee537bc6b23f7cf580/raw/d14e0be6f8ae070aed77653f3c423260f3d5d84e/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16168

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MichaelOrlov · 2025-06-07T23:21:32Z

Pulls: #2858
Gist: https://gist.githubusercontent.com/MichaelOrlov/c08b8ff6eaeeb1fbe4cb0e711ebf1064/raw/d14e0be6f8ae070aed77653f3c423260f3d5d84e/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16183

Linux
Linux-aarch64
Linux-rhel
Windows

MichaelOrlov · 2025-06-08T04:06:11Z

Re-run Windows CI job

Windows

MichaelOrlov · 2025-06-09T14:07:42Z

The Windows CI failures seems unrelated to the changes in this PR.

MichaelOrlov · 2025-06-10T15:04:11Z

Re-run Windows CI job

Windows

MichaelOrlov · 2025-06-11T04:29:27Z

@claraberendsen Is it normal that the Windows build has so many unrelated test failures?

MichaelOrlov · 2025-06-20T16:11:56Z

Try to re-run Windows CI job one more time

Windows

MichaelOrlov · 2025-06-21T17:21:15Z

Windows CI failure is unrelated again.
Failed due to the missing file in the urfdom

C:\ci\ws\src\ros\urdfdom\urdf_parser\src\urdf_model_state.cpp(38,10): fatal error C1083: Cannot open include file: 'urdf_model_state/model_state.h': No such file or directory [C:\ci\ws\build\urdfdom\urdf_parser\urdfdom_model_state.vcxproj]

MichaelOrlov · 2025-06-28T20:20:39Z

Try to re-run Windows CI job one more time

Windows

MichaelOrlov · 2025-06-28T21:25:26Z

The same error on CI

Failed due to the missing file in the urfdom

C:\ci\ws\src\ros\urdfdom\urdf_parser\src\urdf_model_state.cpp(38,10): fatal error C1083: Cannot open include file: 'urdf_model_state/model_state.h': No such file or directory [C:\ci\ws\build\urdfdom\urdf_parser\urdfdom_model_state.vcxproj]

Re-running Windows CI with the excluded urfdom package

Windows

MichaelOrlov · 2025-06-29T01:17:35Z

Re-running Windows CI with the excluded urfdom and urdf packages

Windows

MichaelOrlov · 2025-07-03T16:55:51Z

Try to re-run the Windows CI job one more time after Relax the version compatibility for urdfdom_headers. ros/urdfdom#222 fix.

Windows

MichaelOrlov · 2025-07-08T07:13:15Z

Pulls: #2858
Gist: https://gist.githubusercontent.com/MichaelOrlov/e51b89d1cd78a12c192e3a79e934821e/raw/b5d7825d5f08467580dcfd606111e7316fff2f55/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp
TEST args: --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16428

Linux
Linux-aarch64
Linux-rhel
Windows

- Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

MichaelOrlov · 2025-07-08T18:06:40Z

Re-run Ci after rebase to the latest Rolling
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16432

Linux
Linux-aarch64
Linux-rhel
Windows

MichaelOrlov · 2025-07-08T22:43:35Z

CI is green! Merging then.

MichaelOrlov · 2025-07-10T20:52:47Z

https://github.com/Mergifyio backport kilted jazzy

mergify · 2025-07-10T20:52:54Z

backport kilted jazzy

✅ Backports have been created

Details

#2901 Expose typesupport_helpers API needed for the Rosbag2 (backport #2858) has been created for branch kilted
#2902 Expose typesupport_helpers API needed for the Rosbag2 (backport #2858) has been created for branch jazzy but encountered conflicts

* Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use C++ style in doxygen documentation Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> (cherry picked from commit 448287b)

* Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use C++ style in doxygen documentation Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> (cherry picked from commit 448287b) # Conflicts: # rclcpp/include/rclcpp/typesupport_helpers.hpp

…port #2858) (#2902) * Expose `typesupport_helpers` API needed for the Rosbag2 (#2858) * Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use C++ style in doxygen documentation Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> (cherry picked from commit 448287b) # Conflicts: # rclcpp/include/rclcpp/typesupport_helpers.hpp * Address merge conflicts Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com>

* Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 * Use C++ style in doxygen documentation --------- (cherry picked from commit 448287b) Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com>

…port ros2#2858) (ros2#2902) * Expose `typesupport_helpers` API needed for the Rosbag2 (ros2#2858) * Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use C++ style in doxygen documentation Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> (cherry picked from commit 448287b) # Conflicts: # rclcpp/include/rclcpp/typesupport_helpers.hpp * Address merge conflicts Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com>

* QoSInitialization::from_rmw does not validate invalid history policy values, leading to silent failures (ros2#2841) (ros2#2845) (cherry picked from commit 73e9bfb) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * get_all_data_impl() does not handle null pointers properly, causing segmentation fault (backport ros2#2840) (ros2#2851) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Added missing chrono includes (ros2#2854) (ros2#2856) (cherry picked from commit 373a63c) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Fix for memory leaks in rclcpp::SerializedMessage (ros2#2861) (ros2#2864) (cherry picked from commit 8d44b95) Signed-off-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: kylemarcey <marcey.kyle@gmail.com> * Replace std::default_random_engine with std::mt19937 (humble) (ros2#2847) (ros2#2867) (cherry picked from commit a0e2240) Signed-off-by: keeponoiro <keeeeeeep@gmail.com> Co-authored-by: keeponoiro <keeeeeeep@gmail.com> * Changelog Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * 28.1.10 * fix test_publisher_with_system_default_qos. (ros2#2881) (ros2#2883) (cherry picked from commit e6577c6) Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * Shutdown deadlock fix jazzy (ros2#2887) * fix: Don't deadlock if removing shutdown callbacks in a shutdown callback Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> * refactor: Made fix API compatible Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> --------- Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> * Event exec timer fix for ros2#2889 (ros2#2890) Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Signed-off-by: Janosch Machowinski <jmachowinski@users.noreply.github.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> * Add overload of `append_parameter_override` (ros2#2891) (ros2#2895) (cherry picked from commit fa0cf2d) Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> * Fujitatomoya/test append parameter override (ros2#2896) (ros2#2900) (cherry picked from commit 84c6fb1) Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * [jazzy] Expose `typesupport_helpers` API needed for the Rosbag2 (backport ros2#2858) (ros2#2902) * Expose `typesupport_helpers` API needed for the Rosbag2 (ros2#2858) * Expose extract_type_identifier and get_typesupport_library_path API - Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai> * Use C++ style in doxygen documentation Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> (cherry picked from commit 448287b) # Conflicts: # rclcpp/include/rclcpp/typesupport_helpers.hpp * Address merge conflicts Signed-off-by: Michael Orlov <michael.orlov@apex.ai> --------- Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Co-authored-by: Michael Orlov <morlovmr@gmail.com> * Add qos parameter for wait_for_message function (ros2#2903) (ros2#2906) (cherry picked from commit 2fcef70) Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Sriharsha Ghanta <ghanta_sriharsha@mymail.sutd.edu.sg> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> * Fix `start_type_description_service` param handling (ros2#2897) (ros2#2909) * Fix `start_type_description_service` param handling * Add test * Demonstrate different exceptions depending on node options * Same exact exception and `what()` message in both cases * Uncrustify --------- (cherry picked from commit 4fb558a) Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> --------- Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Signed-off-by: Michael Orlov <morlovmr@gmail.com> Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Signed-off-by: keeponoiro <keeeeeeep@gmail.com> Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com> Signed-off-by: Janosch Machowinski <jmachowinski@users.noreply.github.com> Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com> Signed-off-by: Sriharsha Ghanta <ghanta1996@gmail.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Michael Orlov <morlovmr@gmail.com> Co-authored-by: kylemarcey <marcey.kyle@gmail.com> Co-authored-by: keeponoiro <keeeeeeep@gmail.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Janosch Machowinski <jmachowinski@users.noreply.github.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: Patrick Roncagliolo <ronca.pat@gmail.com> Co-authored-by: Sriharsha Ghanta <ghanta_sriharsha@mymail.sutd.edu.sg>

MichaelOrlov mentioned this pull request May 25, 2025

Use rclcpp type support helpers in rosbag2_cpp ros2/rosbag2#2017

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MichaelOrlov changed the title ~~Expose typesupport_helpers API needed for the Rosbag2~~ [draft] Expose typesupport_helpers API needed for the Rosbag2 May 25, 2025

MichaelOrlov changed the title ~~[draft] Expose typesupport_helpers API needed for the Rosbag2~~ Expose typesupport_helpers API needed for the Rosbag2 May 25, 2025

MichaelOrlov marked this pull request as ready for review May 25, 2025 01:23

MichaelOrlov requested a review from christophebedard May 25, 2025 01:24

MichaelOrlov force-pushed the morlov/expose-more-typesupport-helpers-api branch from 0ce6124 to 752eeab Compare May 25, 2025 06:09

christophebedard requested changes May 27, 2025

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MichaelOrlov requested review from ahcorde, fujitatomoya and mjcarroll May 27, 2025 23:36

fujitatomoya approved these changes May 29, 2025

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christophebedard self-requested a review May 31, 2025 21:01

MichaelOrlov mentioned this pull request Jun 3, 2025

Add Doxygen Comments section into the code style guide ros2/ros2_documentation#5694

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ahcorde approved these changes Jun 5, 2025

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Expose extract_type_identifier and get_typesupport_library_path API

b89577d

- Rationale: We need to use this API in the Rosbag2 - Reference PR ros2/rosbag2#2017 in the Rosbag2 Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

Use C++ style in doxygen documentation

a7cb588

Signed-off-by: Michael Orlov <michael.orlov@apex.ai>

MichaelOrlov force-pushed the morlov/expose-more-typesupport-helpers-api branch from 752eeab to a7cb588 Compare July 8, 2025 18:02

MichaelOrlov merged commit 448287b into rolling Jul 8, 2025
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MichaelOrlov deleted the morlov/expose-more-typesupport-helpers-api branch July 8, 2025 22:43

mergify bot mentioned this pull request Jul 10, 2025

[kilted] Expose typesupport_helpers API needed for the Rosbag2 (backport #2858) #2901

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mergify bot mentioned this pull request Jul 10, 2025

[jazzy] Expose typesupport_helpers API needed for the Rosbag2 (backport #2858) #2902

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This was referenced Aug 7, 2025

[kilted] Use rclcpp type support helpers in rosbag2_cpp (backport #2017) ros2/rosbag2#2129

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[jazzy] Use rclcpp type support helpers in rosbag2_cpp (backport #2017) ros2/rosbag2#2130

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