RCLPY Managed Nodes for Foxy

Hi, it looks like managed nodes have been merged into rclpy on the master branch: https://github.com/ros2/rclpy/pull/865

Will this ever be available in Foxy? How does the master branch relate to the ros2 versions?

What is the easiest way for me to use this feature in my ROS2 project, ideally without having to change ROS2 version (as we have a fairly large team, and a lot of CI/CD built around foxy, and it may be hard to convince the project managers to update to galactic for this one feature).

Asked by CraigH100 on 2022-03-22 05:50:24 UTC

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Answers

You may want to ask on the PR. I normally would say there is little chance that a feature of that size would be backported, but skimming through the code it doesn't appear to me to have any API breakages that would be blocking a backport to Foxy. Though, it may rely on changes-to-changes that are in the current main branch that are not in foxy making it not backportable.

The main branch is where all development occurs and changes are backported, where appropriate, to currently active distributions. Then syncs are made about once every month or two and the changes are pushed to binaries that you can install to use.

Its the age old issue of "I want the stability of LTS but all the new features of bleeding edge".

Asked by stevemacenski on 2022-03-22 13:36:19 UTC