23 humble support#29
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alistair-english merged 13 commits intomainfrom May 4, 2026
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Signed-off-by: Alistair English <hello@alistairenglish.com>
Signed-off-by: Alistair English <hello@alistairenglish.com>
Humble's rclcpp lacks the autostart param on create_timer/create_wall_timer and rclcpp_lifecycle::LifecycleNode's create_service/create_client only accept rmw_qos_profile_t. Add jig/compat.hpp with RCLCPP_VERSION_GTE gates and use them in timer.hpp, service.hpp, and the codegen template. Also add templates/*.jinja2 to the codegen DEPENDS so template edits invalidate generated headers. Signed-off-by: Alistair English <hello@alistairenglish.com>
Signed-off-by: Alistair English <hello@alistairenglish.com>
Signed-off-by: Alistair English <hello@alistairenglish.com>
Without this, sourcing the workspace setup.bash does not put PYTHON_INSTALL_DIR on PYTHONPATH on humble, so launched nodes fail with ModuleNotFoundError. Invisible on jazzy/kilted because their PYTHON_INSTALL_DIR (lib/pythonX/site-packages) is covered by the default ament_export_pythonpath; humble uses local/lib/pythonX/dist-packages which is not. See jig#28 for the proper refactor. Signed-off-by: Alistair English <hello@alistairenglish.com>
Iron renamed rclpy.qos_event -> rclpy.event_handler and split ClockType into rclpy.clock_type; Humble has neither. Add jig._compat that re-exports from whichever module exists and route the existing imports through it. Signed-off-by: Alistair English <hello@alistairenglish.com>
…back Humble's rclcpp rejects TRANSIENT_LOCAL durability paired with intraprocess comms; the state heartbeat publisher in BaseNode crashed every C++ lifecycle node at construction. Add JIG_INTRAPROCESS_TRANSIENT_LOCAL in compat.hpp that falls back to volatile on Humble. Also wrap user callbacks in the Python BaseNode with traceback.print_exc so configure/activate/deactivate/cleanup/shutdown failures surface the actual exception instead of just "Autostart failed to configure". Signed-off-by: Alistair English <hello@alistairenglish.com>
Signed-off-by: Alistair English <hello@alistairenglish.com>
rclcpp::create_timer takes the callback by forwarding reference; passing an lvalue deduces CallbackT to a reference type, so GenericTimer<CB&> ends up storing a reference to the local lambda, which dies when jig::create_timer returns. First fire after activate then segfaulted. Same fix applied to create_wall_timer. Signed-off-by: Alistair English <hello@alistairenglish.com>
The old name claimed transient_local, but on Humble the macro expands to durability(Volatile) — opaque and misleading at call sites. The new name just describes its job (pick the right durability for an intraprocess publisher) and the comment block explains the per-distro values. Mirror the same shim on the python side as INTRAPROCESS_DURABILITY in _compat.py and use it from the python BaseNode heartbeat publisher, so jig's C++ and python interfaces stay consistent. Python's BaseNode doesn't enable intraprocess today, so this is preemptive — TL still works on Humble — but it keeps the two interfaces in lockstep. Add heartbeat_qos() to jig_example test helpers (matching the publisher) and switch test_state_heartbeat_published to it. state_qos() stays TRANSIENT_LOCAL because state_report (the other consumer) genuinely needs latching. Signed-off-by: Alistair English <hello@alistairenglish.com>
heartbeat_qos was just state_qos with the humble durability override — having two near-identical helpers invites silent drift. state_qos now *is* the distro-aware one, matching base_node's ~/state heartbeat publisher. state_report is the actual special case: it's published from a python lifecycle node that doesn't enable IPC, so it stays TRANSIENT_LOCAL on humble and the test specifically relies on latching to receive the message published during configure. Inline that QoS at the call site with a comment instead of carving out a second helper. Signed-off-by: Alistair English <hello@alistairenglish.com>
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Signed-off-by: Alistair English <hello@alistairenglish.com>
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