Backport of #673 ("Adding static transform listener") to jazzy with ABI compatibility preserved#927
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araitaiga wants to merge 3 commits intoros2:jazzyfrom
Open
Backport of #673 ("Adding static transform listener") to jazzy with ABI compatibility preserved#927araitaiga wants to merge 3 commits intoros2:jazzyfrom
araitaiga wants to merge 3 commits intoros2:jazzyfrom
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Signed-off-by: Taiga Arai <araitaiga2020.service@gmail.com>
Signed-off-by: Taiga Arai <araitaiga2020.service@gmail.com>
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| const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & static_options, | ||
| bool static_only = false) |
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Thanks @ahcorde. Refactored in 0ae7cca to preserve the existing init() signature and put static_only on a new overload.
Verified with abidiff (jazzy vs this branch):
Functions changes summary: 0 Removed, 0 Changed, 6 Added functions
Variables changes summary: 0 Removed, 0 Changed, 0 Added variable
Function symbols changes summary: 0 Removed, 3 Added function symbols not referenced by debug info
Variable symbols changes summary: 0 Removed, 3 Added variable symbols not referenced by debug info
Signed-off-by: Taiga Arai <araitaiga2020.service@gmail.com>
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Description
This backport adds support for a static-only transform listener in
jazzywithout changing the existing ABI surface.ABI note:
the new
static_onlybehavior is exposed via an added overload(rather than a new default parameter on the existing ctor as in #673), so
the jazzy ABI is preserved for existing binaries.
Minor deviations from #673:
Test cleanups: fixed an empty-body test, renamed
tfl→stfl, switched staticlookupTransformcalls totf2::TimePointZero.Is this user-facing behavior change?
Existing code using TransformListener is unaffected. New
StaticTransformListeneris available as in #673.Did you use Generative AI?
Yes — Claude (Opus 4.7)
Additional Information
See #673 for the original motivation (#662).
CC: @ahcorde