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ABI compatible use_sime_time fix for Dashing #21
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This creates a robot state publisher subclass that uses ROS time for static transforms to avoid breaking ABI. This PR does change the size of the class JointStateListener which is a publicly installed header. This is a different ABI break, but it is probably ok because joint_state_listener.cpp contains a main(). Only libraries would have been able to import joint_state_listener.h, and it seems unlikely that anyone would have done so. Signed-off-by: Shane Loretz<sloretz@openrobotics.org> Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
I agree; as we know from ROS 1, there are very few (though not 0) users who subclass |
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This is a companion PR to #20. #20 is a proper fix that should go into eloquent. This is a hack that may be acceptable for a Dashing patch release.
This creates a robot state publisher subclass that uses ROS time for static transforms to avoid breaking ABI. This PR does change the size of the class
JointStateListenerwhich is in a publicly installed header. This it is probably ok becausejoint_state_listener.cppcontains amain(). It seems unlikely that anyone would have includedjoint_state_listener.h.Personally, after making this PR, it is probably worth breaking ABI in Dashing and do a patch release with #20 instead of merging this PR