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[Humble] Implement Unified Node Interface (NodeInterfaces class) (backport #2041) #3002

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[Humble] Implement Unified Node Interface (NodeInterfaces class) (backport #2041) #3002

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@fabianhirmann fabianhirmann commented Dec 2, 2025

Description

This is a backport of #2041 to Humble to use the new nice NodeInterfaces class there as well.

Fixes #2309

Is this user-facing behavior change?

No, previously existing behavior is not changed.

Did you use Generative AI?

No.

Additional Information

Interestingly the NodeInterfaces class is also already documented for ROS Humble but has not been backported to Humble yet:
https://docs.ros.org/en/humble/Tutorials/Intermediate/Using-Node-Interfaces-Template-Class.html

@methylDragon @wjwwood @fabianhirmann
Implement Unified Node Interface (NodeInterfaces class) (ros2#2041)
9933fba 
Co-authored-by: William Woodall <[email protected]>
Co-authored-by: methylDragon <[email protected]>
Signed-off-by: Fabian Hirmann <[email protected]>
alsora
alsora approved these changes Dec 6, 2025
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Looks good to me.
The PR is made of only additions and no changes to existing classes so it's safe to backport.

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ahcorde commented Dec 8, 2025

Pulls: #3002
Gist: https://gist.githubusercontent.com/ahcorde/c0e6f29e8411e6cf7f531da6b3b2ac28/raw/4d0f5b268275411fab4ce323121d9c484220cfe6/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp rclcpp_lifecycle
TEST args: --packages-above rclcpp rclcpp_lifecycle
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17709

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

ahcorde
ahcorde requested changes Dec 8, 2025
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I can see here some build errors https://ci.ros2.org/job/ci_linux-rhel/6214/console

@fabianhirmann
node interfaces: fix unintentionally invoked copy constructor by expl…
b41fe0c 
…icitly getting a reference using a lambda instead of a conditional operator where the type is NodeT instead of NodeT &

Signed-off-by: Fabian Hirmann <[email protected]>
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fabianhirmann commented Dec 9, 2025

Thank you @ahcorde for your comment! I think I fixed the issue now. I am still wondering that the same issue did not appear locally on my system (Ubuntu 22.04) as well as at the PR on the rolling branch but I believe it must be because of different compilers or compiler options. In any case, please have another look on it!

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ahcorde commented Dec 9, 2025 •
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Pulls: #3002
Gist: https://gist.githubusercontent.com/ahcorde/95e3be6be08b5dc37b6e5ad52653ef7c/raw/4d0f5b268275411fab4ce323121d9c484220cfe6/ros2.repos
BUILD args: --packages-above-and-dependencies rclcpp rclcpp_lifecycle
TEST args: --packages-above rclcpp rclcpp_lifecycle
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17720

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

@fabianhirmann fabianhirmann mentioned this pull request Dec 9, 2025
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ahcorde commented Dec 9, 2025

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

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