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Use NodeInterfaces for TransformBroadcaster construction #1981

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Merged
merged 4 commits into from
Nov 10, 2025
Merged

Use NodeInterfaces for TransformBroadcaster construction #1981

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662dc12
Use NodeInterfaces for TransformBroadcaster construction
christophfroehlich Nov 2, 2025
4d6319c
Use NodeInterfaces only from rclcpp 18.0.0 on
christophfroehlich Nov 2, 2025
0b24d58
Merge branch 'master' into fix/tf-broadcaster
christophfroehlich Nov 2, 2025
de523d2
Merge branch 'master' into fix/tf-broadcaster
christophfroehlich Nov 10, 2025
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12 changes: 12 additions & 0 deletions admittance_controller/test/test_admittance_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,10 @@
#include "hardware_interface/loaned_command_interface.hpp"
#include "hardware_interface/loaned_state_interface.hpp"
#include "rclcpp/parameter_value.hpp"
#include "rclcpp/version.h"
#if RCLCPP_VERSION_GTE(18, 0, 0)
#include "rclcpp/node_interfaces/node_interfaces.hpp"
#endif
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "semantic_components/force_torque_sensor.hpp"
#include "test_asset_6d_robot_description.hpp"
Expand Down Expand Up @@ -220,7 +224,15 @@ class AdmittanceControllerTest : public ::testing::Test

void broadcast_tfs()
{
#if RCLCPP_VERSION_GTE(18, 0, 0)
static tf2_ros::TransformBroadcaster br(
rclcpp::node_interfaces::NodeInterfaces(
test_broadcaster_node_->get_node_parameters_interface(),
test_broadcaster_node_->get_node_topics_interface()));
#else
static tf2_ros::TransformBroadcaster br(test_broadcaster_node_);
#endif

geometry_msgs::msg::TransformStamped transform_stamped;

transform_stamped.header.stamp = test_broadcaster_node_->now();
Expand Down