comments

foxglove · Feb 23, 2024 · a1ec511 · a1ec511
1 parent 8ad8dd9
commit a1ec511
Show file tree

Hide file tree

Showing 2 changed files with 22 additions and 6 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -155,11 +155,12 @@ elseif("$ENV{ROS_VERSION}" STREQUAL "2")
       ros2_foxglove_bridge/src/generic_client.cpp
     )
 
-    # Check if the ROS_DISTRO is greater than iron and set a compile definition if that's the case.
-    string(COMPARE GREATER $ENV{ROS_DISTRO} "iron" ROS_DISTRO_GT_IRON)
-    if(ROS_DISTRO_GT_IRON)
-      target_compile_definitions(foxglove_bridge_component PRIVATE ROS_DISTRO_GT_IRON)
-    endif()
+    target_compile_definitions(foxglove_bridge_component
+      PRIVATE
+        RCLCPP_VERSION_MAJOR=${rclcpp_VERSION_MAJOR}
+        RCLCPP_VERSION_MINOR=${rclcpp_VERSION_MINOR}
+        RCLCPP_VERSION_PATCH=${rclcpp_VERSION_PATCH}
+    )
 
     target_include_directories(foxglove_bridge_component
       PUBLIC

diff --git a/ros2_foxglove_bridge/src/generic_client.cpp b/ros2_foxglove_bridge/src/generic_client.cpp
@@ -9,6 +9,19 @@
 
 #include <foxglove_bridge/generic_client.hpp>
 
+/* True if the version of RCLCPP is at least major.minor.patch */
+#define RCLCPP_VERSION_GTE(major, minor, patch)        \
+  (major < RCLCPP_VERSION_MAJOR                        \
+     ? true                                            \
+     : major > RCLCPP_VERSION_MAJOR                    \
+         ? false                                       \
+         : minor < RCLCPP_VERSION_MINOR                \
+             ? true                                    \
+             : minor > RCLCPP_VERSION_MINOR            \
+                 ? false                               \
+                 : patch < RCLCPP_VERSION_PATCH ? true \
+                                                : patch > RCLCPP_VERSION_PATCH ? false : true)
+
 namespace {
 
 // Copy of github.com/ros2/rclcpp/blob/33dae5d67/rclcpp/src/rclcpp/typesupport_helpers.cpp#L69-L92
@@ -123,7 +136,9 @@ GenericClient::GenericClient(rclcpp::node_interfaces::NodeBaseInterface* nodeBas
   _typeIntrospectionHdl = (reinterpret_cast<decltype(get_ts)>(
     _typeIntrospectionLib->get_symbol(typeinstrospection_symbol_name)))();
 
-#ifdef ROS_DISTRO_GT_IRON
+  // get_typesupport_handle is deprecated since rclcpp 25.0.0
+  // (https://github.com/ros2/rclcpp/pull/2209)
+#if RCLCPP_VERSION_GTE(25, 0, 0)
   _requestTypeSupportHdl =
     rclcpp::get_message_typesupport_handle(requestTypeName, TYPESUPPORT_LIB_NAME, *_typeSupportLib);
   _responseTypeSupportHdl = rclcpp::get_message_typesupport_handle(