Added humble branch

[routiful]

This framework is pretty excited! I have tested this on ROS 2 humble ant it works well!
Since ROS 2 API was changed, however, it is needed to modify some files.
I would expect someone want to run this on humble. I added comments for what I changed.

1. 2f877f5
   rclcpp/client.hpp/SharedFuture() was deprecated.
   So I added a conversion.

2. 5a427e7
   rclcpp/node_interfaces/node_base/get_callback_group() wasn't supported on humble.
   I added deprecated log on that function and deleted a declared function in cpp.

3. 2c8c77d
   rclcpp/publisher/publisher() was changed. This function hasn't be permitted overriding.
   I deleted an override option in cluster_node_publisher.cpp.

Thank you for sharing this project :) and hope to see you in ROSCon 2022.

[huchijwk]

Many thanks for your contribution. :)

1. From the Humble, get_callback_group() is replaced with for_each_callback_group(). Please refer to inline comments and Add in callback_groups_for_each. ros2/rclcpp#1723.
2. Please use a commit message format similar to the previous commits.
   • module or category: blan blah (all lower case)
   • ex) foros: delete override keyward from publisher()

see you at ROSCon

[routiful]

1. From the Humble, get_callback_group() is replaced with for_each_callback_group(). Please refer to inline comments and ros2/rclcpp#1723.

Appreciated your comments. I deleted get_callback_group() and added for_each_callback_group() with inline comments to a hpp file. Also, I imported an implementation about `for_each_callback_group() to a cpp file.

2. Please use a commit message format similar to the previous commits.

   • module or category: blan blah (all lower case)
   • ex) foros: delete override keyward from publisher()

I changed every commits that I did. I hope it is correct and helpful.

[huchijwk]

Almost done, please align coding style. Fortunately clang format file ('.clang-format') is already included in the project.

There are two methods to check the coding style prior to PR. I did not make a contribution guide and CI workflow yet. sorry. :"-(

Method 1. if you are vscode user, set file for C_Cpp: Clang_format_path in the preference . And re-format documents you modified.

Method 2. In the foros top directory,
find . -name *.hpp ! -name foros.hpp -o -name *.cpp | xargs clang-format -i -style=file

(method 1 + auto formatting is higly recommended)

Eventually, you can see below changes.

diff --git a/foros/include/akit/failover/foros/cluster_node.hpp b/foros/include/akit/failover/foros/cluster_node.hpp
index 2838634..0fbc6ee 100644
--- a/foros/include/akit/failover/foros/cluster_node.hpp
+++ b/foros/include/akit/failover/foros/cluster_node.hpp
@@ -135,7 +135,8 @@ class ClusterNode : public std::enable_shared_from_this<ClusterNode>,
       rclcpp::CallbackGroupType group_type,
       bool automatically_add_to_executor_with_node = true);
 
-  /// Iterate over the callback groups in the node, calling func on each valid one.
+  /// Iterate over the callback groups in the node, calling func on each valid
+  /// one.
   /**
    * From Humble, get_callback_groups() is replaced with this method.
    * https://github.com/ros2/rclcpp/pull/1723
@@ -144,7 +145,8 @@ class ClusterNode : public std::enable_shared_from_this<ClusterNode>,
    */
   CLUSTER_NODE_PUBLIC
   void for_each_callback_group(
-    const rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction & func);
+      const rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction
+          &func);
 
   /// Create a Publisher.
   /**
diff --git a/foros/src/cluster_node.cpp b/foros/src/cluster_node.cpp
index a9dc831..ce4ba8d 100644
--- a/foros/src/cluster_node.cpp
+++ b/foros/src/cluster_node.cpp
@@ -120,7 +120,8 @@ rclcpp::CallbackGroup::SharedPtr ClusterNode::create_callback_group(
 }
 
 void ClusterNode::for_each_callback_group(
-    const rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction & func) {
+    const rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction
+        &func) {
   node_base_->for_each_callback_group(func);
 }

[routiful]

Thank you for details! I checked coding style using clang :)
Furthermore, I ran colcon_test to confirm whether every test are passed. As a result all tests are cleanly passed.

[huchijwk]

LGTM