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Fix variable name inconsistency in custom interface tutorial #6131

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@yao1di yao1di commented Jan 5, 2026

Description

This PR fixes a variable naming inconsistency in the "Implementing custom interfaces" tutorial.

In the original version, a new type Contact is created via the Contact.msg file, and Contact.msg is identical to AddressBook.msg. However, in the updated callback example, the message variable is named contact, while the code still uses message.PHONE_TYPE_MOBILE, which is inconsistent and incorrect.

This PR updates the callback code to consistently use the contact variable when assigning phone_type.

Fixes # (issue)

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mergify bot and others added 30 commits May 12, 2022 15:44
@mergify @SteveMacenski
Adding citation for ROS 2 (ros2#2501) (ros2#2526)
3b86caf 
Co-authored-by: Christophe Bedard <[email protected]>
(cherry picked from commit a96437f)

Co-authored-by: Steve Macenski <[email protected]>
@mergify @ivanpauno
Add humble release note about ROS_DISABLE_LOANED_MESSAGES. (ros2#2520) (
6de747f 
ros2#2523)

* Add humble release note about ROS_DISABLE_LOANED_MESSAGES.
* Improve current guide about ROS_DISABLE_LOANED_MESSAGES.

Signed-off-by: Ivan Santiago Paunovic <[email protected]>
(cherry picked from commit 52392d9)

# Conflicts:
#	source/How-To-Guides.rst
#	source/How-To-Guides/Disabling-ZeroCopy-loaned-messages.rst

Co-authored-by: Ivan Santiago Paunovic <[email protected]>
@clalancette
Add release note about launch-prefix and launch-prefix-filter.
bf60470 
Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit 08c5aae)
@clalancette
Add release note about ros2 line buffering.
37109e9 
Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit a1bb81d)
@clalancette
Add release note for ros2 pkg create option.
4bbe6b6 
Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit 5974553)
@clalancette
Add a release note for the '--flow-style' argument.
ad0fed5 
Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit 1e9b916)
@clalancette
Add release note about ros2 topic echo --filter.
c8dd975 
Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit b008509)
@clalancette
Fixes from review.
13a11d0 
Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit 8e90615)
@mergify @sloretz
Document new Humble feature ament_generate_version_header (ros2#2530) (…
50f9cd9 
…ros2#2541)

* Document ament_generate_version_header

Signed-off-by: Shane Loretz <[email protected]>
(cherry picked from commit d22b833)

Co-authored-by: Shane Loretz <[email protected]>
@mergify @ahcorde
Fixed new actions visualization (ros2#2538) (ros2#2544)
5bc2f45 
Signed-off-by: ahcorde <[email protected]>
(cherry picked from commit 6ad187f)

Co-authored-by: Alejandro Hernández Cordero <[email protected]>
@mergify @sloretz
Document new rclcpp feature clock.sleep_until and clock.sleep_for (ro…
bfe5e5d 
…s2#2534) (ros2#2547)

Signed-off-by: Shane Loretz <[email protected]>
(cherry picked from commit c1d6395)

Co-authored-by: Shane Loretz <[email protected]>
@mergify @sloretz
Document new rclpy feature clock.sleep_until and clock.sleep_for (ros…
fa9610a 
…2#2533) (ros2#2550)

Signed-off-by: Shane Loretz <[email protected]>
(cherry picked from commit 129e386)

Co-authored-by: Shane Loretz <[email protected]>
@mergify @sloretz
Humble document robot_state_publisher parameter frame_prefix (ros2#2531…
b7ac6f9 
…) (ros2#2553)

Signed-off-by: Shane Loretz <[email protected]>
(cherry picked from commit f25b3ed)

Co-authored-by: Shane Loretz <[email protected]>
@mergify @akorb
Update Introducing-Turtlesim.rst (ros2#2560) (ros2#2566)
d098faf 
(cherry picked from commit c018f54)

Co-authored-by: Andreas Korb <[email protected]>
@mergify @sloretz
Install Qt 5.12.X on Windows (ros2#2499) (ros2#2556)
f751b37 
Also use `setx /m` to set the variables globally as the rest of the
instructions also do.

Signed-off-by: Shane Loretz <[email protected]>
(cherry picked from commit c370c8e)

# Conflicts:
#	source/Installation/_Windows-Install-Prerequisites.rst

Co-authored-by: Shane Loretz <[email protected]>
@mergify @clalancette
Fixes for Humble release note formatting. (ros2#2567) (ros2#2570)
872ed7a 
Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit 331b631)

Co-authored-by: Chris Lalancette <[email protected]>
@mergify @ivanpauno
Add note about rclcpp_lifecycle entities automatically transitioning …
7d1ebbe 
…on acticate/deactivate (ros2#2557) (ros2#2574)

Signed-off-by: Ivan Santiago Paunovic <[email protected]>
(cherry picked from commit fb05849)

Co-authored-by: Ivan Santiago Paunovic <[email protected]>
@mergify @esthersweon
Reorder hierarchy of Installation pages (ros2#2461) (ros2#2577)
f4a2884 
* Rename installation pages

Co-authored-by: Chris Lalancette <[email protected]>
(cherry picked from commit e61e4d2)

# Conflicts:
#	source/Installation.rst
#	source/Installation/Alternatives/RHEL-Development-Setup.rst
#	source/Installation/Alternatives/RHEL-Install-Binary.rst
#	source/Installation/Alternatives/Ubuntu-Development-Setup.rst
#	source/Installation/Alternatives/Ubuntu-Install-Binary.rst
#	source/Installation/Alternatives/Windows-Development-Setup.rst
#	source/Installation/Alternatives/macOS-Development-Setup.rst
#	source/Installation/RHEL-Install-RPMs.rst
#	source/Installation/Testing.rst
#	source/Installation/Ubuntu-Install-Debians.rst
#	source/Installation/Windows-Install-Binary.rst
#	source/Installation/_Windows-Install-Prerequisites.rst

Co-authored-by: Esther S. Weon <[email protected]>
@mergify @nuclearsandwich
Add recommendation to update systems before installing ROS 2. (ros2#2581
155f168 
) (ros2#2585)

* Add recommendation to update systems before installing ROS 2.

Installing ROS 2 packages without updating the system first can lead to
conflicts due to package version differences.

This is generally useful but of particular importance on Ubuntu Jammy: ros2/ros2#1272

* Add system upgrade admonition to alternative installation methods.

* Extract upgrade admonitions into a snippet.

* Add upgrade admonitions to alternative installation methods.

(cherry picked from commit b4527c0)

# Conflicts:
#	source/Installation/Alternatives/RHEL-Development-Setup.rst
#	source/Installation/Alternatives/RHEL-Install-Binary.rst
#	source/Installation/RHEL-Install-RPMs.rst

Co-authored-by: Steven! Ragnarök <[email protected]>
@mergify @ahcorde
Add Humble release notes for Rviz2 (ros2#2537) (ros2#2589)
cdfea90 
* Add Humble release notes for Rviz2

Signed-off-by: ahcorde <[email protected]>

* Improved doc

Signed-off-by: ahcorde <[email protected]>

* feedback

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* Added feedback

Signed-off-by: ahcorde <[email protected]>

* feedback

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(cherry picked from commit f19294b)

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@mergify @nuclearsandwich
Add Ubuntu 22.04 upgrade requirement to known Humble issues. (ros2#2582…
f5a371c 
…) (ros2#2592)

* Known issue related to installing Humble before updating Ubuntu.

Co-authored-by: Chris Lalancette <[email protected]>
(cherry picked from commit 58a6ec1)

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@mergify @christophebedard-apexai
Fix typo in 'PyPI' name (ros2#2593) (ros2#2600)
fbb966b 
Signed-off-by: Christophe Bedard <[email protected]>
(cherry picked from commit 31eabfa)

Co-authored-by: Christophe Bedard <[email protected]>
@mergify @kscottz
Update to TSC Members -- Blasdel to Buscaron (ros2#2596) (ros2#2603)
de88e49 
(cherry picked from commit 9d97175)

Co-authored-by: Katherine Scott <[email protected]>
@mergify @mjcarroll
Add instructions for using ros1_bridge with Jammy (ros2#2594) (ros2#2610
e9022e5 
)

* Add instructions for using ros1_bridge with Jammy

Signed-off-by: Michael Carroll <[email protected]>
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(cherry picked from commit be773d4)

# Conflicts:
#	source/How-To-Guides.rst

Co-authored-by: Michael Carroll <[email protected]>
@mergify @christophebedard-apexai
Include link to docs contribution guide (ros2#2595) (ros2#2619)
2a5980d 
Signed-off-by: Christophe Bedard <[email protected]>
(cherry picked from commit 02debf5)

Co-authored-by: Christophe Bedard <[email protected]>
@mergify @clalancette
Add release note about the new SolidPrimitive PRISM type. (ros2#2623) (…
4f1ca83 
…ros2#2626)

* Add release note about the new SolidPrimitive PRISM type.

Signed-off-by: Chris Lalancette <[email protected]>
Co-authored-by: Michael Carroll <[email protected]>
(cherry picked from commit d5bdd93)

Co-authored-by: Chris Lalancette <[email protected]>
@mergify @clalancette
Update the RViz release notes for Humble. (ros2#2622) (ros2#2629)
92d7395 
* Update the RViz release notes for Humble.

Split it into new features vs updates, and also add in a
new note about visualization YUV images.

Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit 22101c9)

Co-authored-by: Chris Lalancette <[email protected]>
@mergify @fujitatomoya
rosbag2 zero copy playback and wait for ack option. (ros2#2597) (ros2…
e90abab 
…#2632)

Signed-off-by: Tomoya.Fujita <[email protected]>
(cherry picked from commit 0749ce0)

Co-authored-by: Tomoya Fujita <[email protected]>
@mergify @clalancette
Remove broken link from the Humble release notes on Galactic/Foxy. (r…
d83754b 
…os2#2633) (ros2#2635)

The particular How-To guide listed in here doesn't exist on
Foxy and Galactic, only Humble.  So remove references to it here.

Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit 3b135e5)

Co-authored-by: Chris Lalancette <[email protected]>
@mergify @cottsay
Add a known issue for Humble regarding colcon and setuptools (ros2#2639…
d22be2f 
…) (ros2#2642)

Signed-off-by: Scott K Logan <[email protected]>
(cherry picked from commit cef35c2)

Co-authored-by: Scott K Logan <[email protected]>
clalancette and others added 23 commits May 22, 2023 08:52
@clalancette @ygoumaz
Adding more Webots Simulation Tutorials (ros2#3357) (ros2#3658)
45eb878 
Refactor the Webots tutorials as well.

Co-authored-by: ad-daniel <[email protected]>
Co-authored-by: Olivier Michel <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>
(cherry picked from commit 9fe0597)

Co-authored-by: Yannick Goumaz <[email protected]>
@mergify @mjcarroll
Add EventsExecutor release notes (ros2#3662) (ros2#3667)
29d4819 
* Add EventsExecutor release notes

Signed-off-by: Michael Carroll <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Co-authored-by: Christophe Bedard <[email protected]>
(cherry picked from commit 07cc792)

Co-authored-by: Michael Carroll <[email protected]>
@mergify @Yadunund
Add Known Issues for Iron at release (ros2#3659) (ros2#3670)
4f41ba2 
* Add known issues

Signed-off-by: Yadunund <[email protected]>

* Fix typo

Signed-off-by: Yadunund <[email protected]>

* Update source/Releases/Release-Iron-Irwini.rst

Co-authored-by: Chris Lalancette <[email protected]>

---------

Signed-off-by: Yadunund <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>
(cherry picked from commit 5dbd367)

Co-authored-by: Yadu <[email protected]>
@mergify @Yadunund
Release Iron Irwini (ros2#3610) (ros2#3673)
b3c713c 
* Changes to mark iron as released

Signed-off-by: Yadunund <[email protected]>
(cherry picked from commit 5c11933)

Co-authored-by: Yadu <[email protected]>
@mergify @cychitivav
split build processes to save execution time in ghactions (ros2#3661) (…
91b7074 
…ros2#3676)

(cherry picked from commit 0cfea83)

Co-authored-by: Cristian Chitiva <[email protected]>
@mergify @christophebedard-apexai
Mention not needing to source workspace before running tests (ros2#3677…
5f64016 
…) (ros2#3682)

Signed-off-by: Christophe Bedard <[email protected]>
(cherry picked from commit 87a3bd9)

Co-authored-by: Christophe Bedard <[email protected]>
@mergify
use jammy instead of focal for iron (ros2#3684) (ros2#3687)
bcbd8ee 
Signed-off-by: Chen Lihui <[email protected]>
(cherry picked from commit 9ed5b48)

Co-authored-by: Chen Lihui <[email protected]>
@mergify @mshinjo
fix a typo in Executors documentation (ros2#3689) (ros2#3692)
d8164c9 
Signed-off-by: Mirai Shinjo <[email protected]>
(cherry picked from commit c154240)

Co-authored-by: Mirai SHINJO <[email protected]>
@mergify @cychitivav
Add keyboard markup (ros2#3695) (ros2#3698)
18dad5c 
* add keyboard markup

Co-authored-by: Chris Lalancette <[email protected]>
(cherry picked from commit 6de7fb9)

Co-authored-by: Cristian Chitiva <[email protected]>
@mergify
to fix warning and use jammy (ros2#3679) (ros2#3706)
6cb7487 
* use ubuntu:jammy instead of focal for docker file

Also switch to Python 3.10 to match the version of python in Jammy.

Signed-off-by: Chen Lihui <[email protected]>
(cherry picked from commit 86bc311)

Co-authored-by: Chen Lihui <[email protected]>
@mergify @clalancette
Add a Humble release note about the include directory change. (ros2#3703
aa1d97f 
) (ros2#3709)

That is, the fallout from ros2/ros2#1150
should be mentioned for people who are using IDEs with
Humble.

While we are in here, do some minor fixes to the formatting
of the release notes.

Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit d0120d0)

Co-authored-by: Chris Lalancette <[email protected]>
@mergify @emersonknapp
[Iron] Add release notes for REP-2011 features (ros2#3699) (ros2#3715)
5125901 
* Add release notes for Type Description Distribution and Dynamic Types

Signed-off-by: Emerson Knapp <[email protected]>
Co-authored-by: methylDragon <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>
(cherry picked from commit 33fdd2e)

Co-authored-by: Emerson Knapp <[email protected]>
@mergify @DoppiaEffe94
Update Introduction-To-Tf2.rst (ros2#3484) (ros2#3718)
32c58d6 
* Update Introduction-To-Tf2.rst

Co-authored-by: Chris Lalancette <[email protected]>
(cherry picked from commit 03b53b2)

Co-authored-by: Francesco Fallica <[email protected]>
@mergify @clalancette
Pin the versions of the dependencies. (ros2#2725) (ros2#3722)
abf0bc9 
This installs as many dependencies as possible via the system
packages.  We then take the versions of those dependencies
and pin them in requirements.txt/constraints.txt .  This is
so that we keep a consistent set of dependencies that we know
will work for the lifetime of Ubuntu Jammy, without constantly
monitoring the upstream projects.

Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit 6461f09)

Co-authored-by: Chris Lalancette <[email protected]>
@mergify @clalancette
Get rid of unnecessary .rst prefixes in links. (ros2#3723) (ros2#3726)
14a3d2a 
That is, internal links never need the .rst prefix,
they can just use the name of the document they are
referring to.  This matches what most of the rest of
the documentation does.

Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit 5bb98f7)

Co-authored-by: Chris Lalancette <[email protected]>
@clalancette
Small fix for Foxy. (ros2#3727)
470c979 
Signed-off-by: Chris Lalancette <[email protected]>
@mergify @OTL
Get rid of distribution name (ros2#3701) (ros2#3730)
b795f1a 
Co-authored-by: Chris Lalancette <[email protected]>
(cherry picked from commit f61080c)

Co-authored-by: Takashi Ogura <[email protected]>
@Yadunund @clalancette
Import original sphinx_sitemap implementation as sphinx_sitemap_ros
a8e4f8c 
Signed-off-by: Yadunund <[email protected]>
(cherry picked from commit 2172523)
@Yadunund @clalancette
Ignore pages with context containing skip_sitemap key
39dd2bc 
Signed-off-by: Yadunund <[email protected]>
(cherry picked from commit 83e778d)
@Yadunund @clalancette
Replace sphinx_sitemap extension with sphinx_sitemap_ros in conf.py
df77928 
Signed-off-by: Yadunund <[email protected]>
(cherry picked from commit c0b48e1)

# Conflicts:
#	conf.py
@mergify @clalancette
Minor fixes to the URDF tutorial. (ros2#3743) (ros2#3749)
df23b5c 
While debugging an issue I went over the URDF tutorial
and noticed these small issues, which are all fixed in this PR.

Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit 9c1f870)

Co-authored-by: Chris Lalancette <[email protected]>
@mergify @moriarty
Foxy is now EOL (ros2#3700) (ros2#3752)
c0b292b 
* Foxy is now EOL

* [EOL] Foxy

- review feedback:
  - mergify config
  - background color
  - add date to date

Official ROS 2 Foxy EOL Date June 20th, 2023

https://twitter.com/OpenRoboticsOrg/status/1666484720585277443

* Remove Foxy from the top-level Releases page.

Signed-off-by: Alex Moriarty <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
(cherry picked from commit 5248891)

Co-authored-by: Alex Moriarty <[email protected]>
@yao1di
Fix a variable name bug in Implementing custom interfaces tutorials f…
4577d6a 
…or beginners.
@yao1di yao1di changed the base branch from rolling to foxy January 5, 2026 14:09
@audrow audrow removed their request for review January 5, 2026 15:19
fujitatomoya
fujitatomoya reviewed Jan 6, 2026
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@yao1di thank for creating PR, this is good catch!!

can you do us a favor? can you target the branch against rolling? (foxy has been already end of life) that is our development branch, and then we can backport the fix to the downstream branches such as kilted, jazzy and humble.

besides that, we can also fix the other places where uses contact and address_book.

@yao1di yao1di changed the base branch from foxy to rolling January 6, 2026 02:59
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