fix: detect rclcpp API differences via RCLCPP_VERSION_GTE#115
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facontidavide merged 3 commits intomainfrom Apr 21, 2026
Merged
fix: detect rclcpp API differences via RCLCPP_VERSION_GTE#115facontidavide merged 3 commits intomainfrom
facontidavide merged 3 commits intomainfrom
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Commit 63e6e28 added a ROS_HUMBLE compile flag guarded by `if("$ENV{ROS_DISTRO}" STREQUAL "humble")`, but in the GitHub Actions build farm that check did not match even though ROS_DISTRO was "humble" at configure time. As a result the Humble build compiled the Jazzy+ branch and failed with: 'get_message_typesupport_handle' is not a member of 'rclcpp'; did you mean 'get_typesupport_handle'? Switch the detection to the rclcpp_VERSION variable populated by find_package(rclcpp). Humble ships rclcpp 16.x (threshold <17); Jazzy and newer ship 28.x+. This is deterministic and independent of the invoking shell's environment.
The previous badge referenced a legacy `ros2.yaml` workflow that no longer exists. Replace with badges for the current workflows: ros-humble, ros-jazzy, ros-rolling, and pre-commit.
Relying on CMake `if("$ENV{ROS_DISTRO}" STREQUAL "humble")` to forward
a ROS_HUMBLE compile flag is brittle — it broke in the Humble CI
runner even though ROS_DISTRO printed as "humble". Move the
conditional compilation to the `RCLCPP_VERSION_GTE(major,minor,patch)`
preprocessor macro from `<rclcpp/version.h>`, which is the authoritative
version shipped by rclcpp itself via ament_generate_version_header.
Per-site thresholds now reflect when each API actually changed rather
than using a single rough ROS_HUMBLE flag:
- typesupport_wrapper.cpp: rclcpp::get_message_typesupport_handle was
added in Jazzy (rclcpp 28). Use it at >=28 and fall back to the
(still existing) rclcpp::get_typesupport_handle below. Humble's
rclcpp has that name too, so the rosbag2_cpp/typesupport_helpers
include is no longer needed.
- generic_publisher.h: the 6-arg rclcpp::PublisherBase constructor
(callbacks + use_default_events) was introduced between Humble and
Iron (rclcpp 17+). Guard the extra args and the callbacks_ member
on RCLCPP_VERSION_GTE(17, 0, 0).
- dataload_ros2.cpp: rosbag2 SerializedBagMessage::time_stamp was
split into recv_timestamp/send_timestamp in Jazzy; gate the new
field name on >=28 too.
With everything moved to compile-time checks the `ROS_HUMBLE` compile
definition and its CMake detection are unnecessary and have been
removed from src/CMakeLists.txt.
As a side benefit this also makes Iron compile, since the old setup
unconditionally took the Jazzy path when ROS_HUMBLE wasn't defined.
facontidavide
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Summary
Humble CI on
mainwas failing becausesrc/CMakeLists.txtgated theROS_HUMBLEcompile flag on$ENV{ROS_DISTRO}STREQUAL "humble", and that check did not match underaction-ros-cieven though the same variable printed ashumblefrom an adjacentmessage()call. WithoutROS_HUMBLE, the Jazzy+ branch (rclcpp::get_message_typesupport_handle) was compiled, which does not exist in rclcpp 16.x.Replace the whole scheme with compile-time checks against
RCLCPP_VERSION_GTE(major, minor, patch)from<rclcpp/version.h>. That macro is emitted by rclcpp itself viaament_generate_version_header, so it is the authoritative version — independent of env vars and of the invoking shell.Per-site thresholds
typesupport_wrapper.cpprclcpp::get_message_typesupport_handle(Jazzy rename)>= 28,0,0generic_publisher.hrclcpp::PublisherBase6-arg constructor +callbacks_>= 17,0,0dataload_ros2.cppSerializedBagMessage::send_timestamp(Jazzy split)>= 28,0,0As a side effect this also makes Iron compile — the previous layout unconditionally took the Jazzy path whenever
ROS_HUMBLEwasn't defined.Also drops the now-unused
rosbag2_cpp/typesupport_helpers.hppinclude (Humble's rclcpp exposes the same helper).Rolling CI
Rolling's failure on the original run was unrelated —
ModuleNotFoundError: No module named 'ament_package'at CMake configure time, an intermittentaction-ros-ci@v0.4.6flake on Ubuntu 24.04. It passed cleanly on this PR's first CI run.Also included
docs: point README CI badges at the actual workflow files— the previous badge referenced a non-existentros2.yamlworkflow.Test plan
source /opt/ros/humble/setup.bash && colcon build --packages-select plotjuggler_ros→ success.>=28branches, unchanged behavior).