16.1.0

Signed-off-by: Audrow Nash <audrow@hey.com>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+16.1.0 (2022-04-29)
+-------------------
+* use reinterpret_cast for function pointer conversion. (`#1919 <https://github.com/ros2/rclcpp/issues/1919>`_)
+* Contributors: Tomoya Fujita
+
 16.0.1 (2022-04-13)
 -------------------
 * remove DEFINE_CONTENT_FILTER cmake option (`#1914 <https://github.com/ros2/rclcpp/issues/1914>`_)

rclcpp/include/rclcpp/timer.hpp

@@ -189,10 +189,10 @@ public:
     TRACEPOINT(
       rclcpp_timer_callback_added,
       static_cast<const void *>(get_timer_handle().get()),
-      static_cast<const void *>(&callback_));
+      reinterpret_cast<const void *>(&callback_));
     TRACEPOINT(
       rclcpp_callback_register,
-      static_cast<const void *>(&callback_),
+      reinterpret_cast<const void *>(&callback_),
       tracetools::get_symbol(callback_));
   }
 
@@ -226,9 +226,9 @@ public:
   void
   execute_callback() override
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(&callback_), false);
+    TRACEPOINT(callback_start, reinterpret_cast<const void *>(&callback_), false);
     execute_callback_delegate<>();
-    TRACEPOINT(callback_end, static_cast<const void *>(&callback_));
+    TRACEPOINT(callback_end, reinterpret_cast<const void *>(&callback_));
   }
 
   // void specialization

rclcpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>16.0.1</version>
+  <version>16.1.0</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>

rclcpp/test/rclcpp/test_create_timer.cpp

@@ -116,3 +116,20 @@ TEST(TestCreateTimer, call_wall_timer_with_bad_arguments)
     std::invalid_argument);
   rclcpp::shutdown();
 }
+
+static void test_timer_callback(void) {}
+
+TEST(TestCreateTimer, timer_function_pointer)
+{
+  rclcpp::init(0, nullptr);
+  auto node = std::make_shared<rclcpp::Node>("timer_function_pointer_node");
+
+  // make sure build succeeds with function pointer instead of lambda
+  auto some_timer = rclcpp::create_timer(
+    node,
+    node->get_clock(),
+    rclcpp::Duration(0ms),
+    test_timer_callback);
+
+  rclcpp::shutdown();
+}

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,9 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+16.1.0 (2022-04-29)
+-------------------
+
 16.0.1 (2022-04-13)
 -------------------
 

rclcpp_action/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_action</name>
-  <version>16.0.1</version>
+  <version>16.1.0</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>

rclcpp_components/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+16.1.0 (2022-04-29)
+-------------------
+
 16.0.1 (2022-04-13)
 -------------------
 

rclcpp_components/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_components</name>
-  <version>16.0.1</version>
+  <version>16.1.0</version>
   <description>Package containing tools for dynamically loadable components</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,9 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+16.1.0 (2022-04-29)
+-------------------
+
 16.0.1 (2022-04-13)
 -------------------
 

rclcpp_lifecycle/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_lifecycle</name>
-  <version>16.0.1</version>
+  <version>16.1.0</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>