Merge branch 'master' into windows/pixi

Author: christophfroehlich

realtime_tools/CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package realtime_tools
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.4.0 (2025-06-13)
+------------------
+* Silence some deprecation warnings (`#355 <https://github.com/ros-controls/realtime_tools/issues/355>`_)
+* Add new API for the RealtimePublisher (`#323 <https://github.com/ros-controls/realtime_tools/issues/323>`_)
+* Add guidelines for realtimebox/queue (`#347 <https://github.com/ros-controls/realtime_tools/issues/347>`_)
+* Add docs for control.ros.org (`#346 <https://github.com/ros-controls/realtime_tools/issues/346>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 4.3.0 (2025-05-25)
 ------------------
 * Change default mutex of `RealtimeThreadSafeBox` and add more aliases (`#342 <https://github.com/ros-controls/realtime_tools/issues/342>`_)

realtime_tools/include/realtime_tools/realtime_publisher.hpp

@@ -63,8 +63,6 @@ class RealtimePublisher
 
   RCLCPP_SMART_PTR_DEFINITIONS(RealtimePublisher<MessageT>)
 
-  [[deprecated(
-    "This variable is deprecated, it is recommended to use the try_publish() method instead.")]]
   MessageT msg_;
 
   /**
@@ -204,7 +202,10 @@ class RealtimePublisher
   void unlockAndPublish()
   {
     turn_.store(State::NON_REALTIME, std::memory_order_release);
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
     unlock();
+#pragma GCC diagnostic pop
   }
 
   /**

realtime_tools/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>realtime_tools</name>
-  <version>4.3.0</version>
+  <version>4.4.0</version>
   <description>Contains a set of tools that can be used from a hard
     realtime thread, without breaking the realtime behavior.</description>
   <maintainer email="[email protected]">Bence Magyar</maintainer>

realtime_tools/test/realtime_publisher_tests.cpp

@@ -54,7 +54,9 @@ struct StringCallback
   }
 };
 
-TEST(RealtimePublisher, rt_publish)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+TEST(RealtimePublisher, rt_publish_legacy)
 {
   rclcpp::init(0, nullptr);
   const size_t ATTEMPTS = 10;
@@ -90,7 +92,7 @@ TEST(RealtimePublisher, rt_publish)
   rclcpp::shutdown();
 }
 
-TEST(RealtimePublisher, rt_try_publish)
+TEST(RealtimePublisher, rt_try_publish_legacy)
 {
   rclcpp::init(0, nullptr);
   const size_t ATTEMPTS = 10;
@@ -130,6 +132,7 @@ TEST(RealtimePublisher, rt_try_publish)
   EXPECT_STREQ(expected_msg, str_callback.msg_.string_value.c_str());
   rclcpp::shutdown();
 }
+#pragma GCC diagnostic pop
 
 TEST(RealtimePublisher, rt_can_try_publish)
 {