Added humble branch

foros/include/akit/failover/foros/cluster_node.hpp

@@ -135,13 +135,18 @@ class ClusterNode : public std::enable_shared_from_this<ClusterNode>,
       rclcpp::CallbackGroupType group_type,
       bool automatically_add_to_executor_with_node = true);
 
-  /// Return the list of callback groups in the node.
+  /// Iterate over the callback groups in the node, calling func on each valid
+  /// one.
   /**
-   * \return List of callback groups in the node.
+   * From Humble, get_callback_groups() is replaced with this method.
+   * https://github.com/ros2/rclcpp/pull/1723
+   *
+   * \param[in] func The callback function to call on each valid callback group.
    */
   CLUSTER_NODE_PUBLIC
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> &get_callback_groups()
-      const;
+  void for_each_callback_group(
+      const rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction
+          &func);
 
   /// Create a Publisher.
   /**

foros/include/akit/failover/foros/cluster_node_publisher.hpp

@@ -72,7 +72,7 @@ class ClusterNodePublisher : public rclcpp::Publisher<MessageT, Alloc> {
    *
    * \param[in] msg a message to publish.
    */
-  void publish(std::unique_ptr<MessageT, MessageDeleter> msg) override {
+  void publish(std::unique_ptr<MessageT, MessageDeleter> msg) {
     if (node_lifecycle_interface_ != nullptr &&
         !node_lifecycle_interface_->is_activated()) {
       // ignore publish request when publisher is not activated
@@ -88,7 +88,7 @@ class ClusterNodePublisher : public rclcpp::Publisher<MessageT, Alloc> {
    *
    * \param[in] msg a message to publish.
    */
-  void publish(const MessageT& msg) override {
+  void publish(const MessageT& msg) {
     if (node_lifecycle_interface_ != nullptr &&
         !node_lifecycle_interface_->is_activated()) {
       // ignore publish request when publisher is not activated

foros/src/cluster_node.cpp

@@ -119,9 +119,10 @@ rclcpp::CallbackGroup::SharedPtr ClusterNode::create_callback_group(
       group_type, automatically_add_to_executor_with_node);
 }
 
-const std::vector<rclcpp::CallbackGroup::WeakPtr>
-    &ClusterNode::get_callback_groups() const {
-  return node_base_->get_callback_groups();
+void ClusterNode::for_each_callback_group(
+    const rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction
+        &func) {
+  node_base_->for_each_callback_group(func);
 }
 
 const rclcpp::ParameterValue &ClusterNode::declare_parameter(

foros/test/test_raft.hpp

@@ -112,7 +112,7 @@ class TestContext : public akit::failover::foros::raft::Context {
     request->prev_log_index = prev_log_index;
     request->prev_log_term = prev_log_term;
     request->entries = entries;
-    return append_entries_->async_send_request(request);
+    return append_entries_->async_send_request(request).future.share();
   }
 
  private: