added conditioning to have rolling tags compilable in older versions

[saikishor]

As discussed in the yesterday's WG meeting, I've added some small fixes that will enable us to compile rolling tags directly in earlier versions from now on.

The following are the breaking changes between both versions:

• ros2/rclcpp@9d2849c (The new API of the NodeOptions is available from the tag 21.0.0)
• ros2/rclcpp@4744fb6 (The new method of the create client is available from the tag 17.0.0)

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 75.89%. Comparing base (0711cd6) to head (24b9f05).

Additional details and impacted files

@@             Coverage Diff             @@
##           master    #1422       +/-   ##
===========================================
+ Coverage   47.59%   75.89%   +28.30%     
===========================================
  Files          41       41               
  Lines        3553     3352      -201     
  Branches     1932     1926        -6     
===========================================
+ Hits         1691     2544      +853     
+ Misses        459      415       -44     
+ Partials     1403      393     -1010     

Flag	Coverage Δ
unittests	75.89% <100.00%> (+28.30%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...controller_interface/controller_interface_base.hpp	90.00% <100.00%> (+52.50%)	⬆️
controller_manager/src/controller_manager.cpp	69.36% <ø> (+30.34%)	⬆️

... and 30 files with indirect coverage changes

[christophfroehlich]

LGTM, compiles on humble.
After merge we could add a scheduled CI job for ros-controls:master on ROS humble to ros2_control_ci @fmauch?

[fmauch]

LGTM, compiles on humble. After merge we could add a scheduled CI job for ros-controls:master on ROS humble to ros2_control_ci @fmauch?

Sure we could do that :-)

[bmagyar]

Just one more thing. Could youi please add a distinctive comment about those IFs being there to support source-compatibility with Humble? Same line in both files

[saikishor]

Just one more thing. Could youi please add a distinctive comment about those IFs being there to support source-compatibility with Humble? Same line in both files

Sure, I can do that!

[saikishor]

@bmagyar Done 👍

[bmagyar]

thanks!