Backport 2495 to iron #2530
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Backport 2495 to iron #2530
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added 2 commits
May 14, 2024 08:44
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Messing with the method signatures, might change the the size of the objects or the memory layout, regardless of private, public or protected. |
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Non virtual methods are stored the same way as free standing functions and do not change the object (even though not guaranteed by the standard). But given that you did a back port yourself I will close this one. |
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This is a (manual) backport of #2495 to Iron as discussed in #2242.
As you might notice this PR does not go the way @jmachowinski suggested in #2242 (comment). (As I do not really see how these changes should be easily backported as they change quite a lot of the logic).
But I think the changes do not introduce an API/ABI break (in contrast to what @fujitatomoya wrote in #2242 (comment))
As stated in the developer guide
As this PR only changes the definition of private methods it is not necessary to recompile dependent code. I just tested this with our own code base (which uses ros2control with quite a lot of JTCs running at the same time) and it seemed to work fine.
( I only compiled the backport of rclcpp and rclcpp_action, enabled overrides for the workspace, made sure that I do not recompile our own code, and removed the system installation of rclcpp_action with sudo dpkg --force-all --remove ros-iron-rclcpp-action)
Given that it only changes private methods and that
EntityTypeis not exposed via any public methods I would argue that this backport also does not change the public API.Please note that I did not backport the adapted tests so far as I would like to hear some feedback first.
EDIT:
@fmauch perhaps it might be interesting for you to test this backport on your UR test setup.