fix humble compatibility using typesupport wrapper

Signed-off-by: Dominik Authaler <dominik.authaler@uni-ulm.de>

Author: authaldo

src/CMakeLists.txt

@@ -10,13 +10,14 @@ QT5_WRAP_UI ( COMMON_UI_SRC
 
 
 add_library( commonROS STATIC
-   dialog_select_ros_topics.h
+    dialog_select_ros_topics.h
     dialog_select_ros_topics.cpp
     dialog_with_itemlist.h
     publisher_select_dialog.h
     parser_configuration.cpp
     parser_configuration.h
     ros_parsers/ros2_parser.cpp
+    typesupport_wrapper.cpp
     ${COMMON_UI_SRC}
 )
 
@@ -51,6 +52,7 @@ if("$ENV{ROS_DISTRO}" STREQUAL "humble")
         message(STATUS "Detected Humble")
         target_compile_definitions(DataLoadROS2 PUBLIC ROS_HUMBLE)
         target_compile_definitions(TopicPublisherROS2 PUBLIC ROS_HUMBLE)
+	target_compile_definitions(commonROS PUBLIC ROS_HUMBLE)
 endif()
 
 #######################################################################

src/TopicPublisherROS2/generic_publisher.h

@@ -20,6 +20,8 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/publisher_base.hpp>
 
+#include "typesupport_wrapper.h"
+
 class GenericPublisher : public rclcpp::PublisherBase
 {
 public:
@@ -49,8 +51,8 @@ class GenericPublisher : public rclcpp::PublisherBase
                                                   const std::string& topic_type)
   {
 
-   auto library = std::move(rclcpp::get_typesupport_library(topic_type, "rosidl_typesupport_cpp"));
-   auto type_support = rclcpp::get_message_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *library);
+   auto library = std::move(wrapper::get_typesupport_library(topic_type, "rosidl_typesupport_cpp"));
+   auto type_support = wrapper::get_message_typesupport_handle(topic_type, "rosidl_typesupport_cpp", library);
 
     return std::make_shared<GenericPublisher>(node.get_node_base_interface().get(), topic_name, *type_support);
   }

src/ros_parsers/ros2_parser.cpp

@@ -10,6 +10,8 @@
 #include <rosidl_typesupport_introspection_cpp/identifier.hpp>
 #include <fmt/core.h>
 
+#include "typesupport_wrapper.h"
+
 bool TypeHasHeader(const rosidl_message_type_support_t* type_support)
 {
   auto members = static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers*>(type_support->data);
@@ -42,9 +44,9 @@ std::string CreateSchema(const std::string& base_type)
 
   auto addTypeToSchema = [&](const std::string& type_name, bool add_header)
   {
-    auto introspection_library = rclcpp::get_typesupport_library(type_name, "rosidl_typesupport_introspection_cpp");
-    auto introspection_support = rclcpp::get_message_typesupport_handle(
-        type_name, "rosidl_typesupport_introspection_cpp", *introspection_library);
+    auto introspection_library = wrapper::get_typesupport_library(type_name, "rosidl_typesupport_introspection_cpp");
+    auto introspection_support = wrapper::get_message_typesupport_handle(
+        type_name, "rosidl_typesupport_introspection_cpp", introspection_library);
 
     if (add_header)
     {
@@ -146,13 +148,13 @@ TopicInfo CreateTopicInfo(const std::string& topic_name, const std::string& type
   info.topic_name = topic_name;
   info.type = type_name;
 
-  info.introspection_library = rclcpp::get_typesupport_library(type_name, "rosidl_typesupport_introspection_cpp");
-  info.introspection_support = rclcpp::get_message_typesupport_handle(type_name, "rosidl_typesupport_introspection_cpp",
-                                                                      *info.introspection_library);
+  info.introspection_library = wrapper::get_typesupport_library(type_name, "rosidl_typesupport_introspection_cpp");
+  info.introspection_support = wrapper::get_message_typesupport_handle(type_name, "rosidl_typesupport_introspection_cpp",
+                                                                       info.introspection_library);
 
   auto identifier   = rosidl_typesupport_cpp::typesupport_identifier;
-  info.support_library = rclcpp::get_typesupport_library(type_name, identifier);
-  info.type_support = rclcpp::get_message_typesupport_handle(type_name, identifier, *info.support_library);
+  info.support_library = wrapper::get_typesupport_library(type_name, identifier);
+  info.type_support = wrapper::get_message_typesupport_handle(type_name, identifier, info.support_library);
 
   info.has_header_stamp = TypeHasHeader(info.introspection_support);
   return info;

src/ros_parsers/ros2_parser.h

@@ -3,7 +3,6 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rmw/rmw.h"
 #include "rmw/types.h"
-#include "rclcpp/typesupport_helpers.hpp"
 #include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
 
 #include <PlotJuggler/plotdata.h>

src/typesupport_wrapper.cpp

@@ -0,0 +1,32 @@
+
+
+#include "typesupport_wrapper.h"
+#include "rosidl_runtime_cpp/message_type_support_decl.hpp"
+
+#ifdef ROS_HUMBLE
+    #include "rosbag2_cpp/typesupport_helpers.hpp"
+#else
+    #include "rclcpp/typesupport_helpers.hpp"
+#endif
+
+namespace wrapper {
+    std::shared_ptr<rcpputils::SharedLibrary>
+            get_typesupport_library(const std::string & type, const std::string & typesupport_identifier) {
+    #ifdef ROS_HUMBLE
+        return rosbag2_cpp::get_typesupport_library(type, typesupport_identifier);
+    #else
+        return rclcpp::get_typesupport_library(type, typesupport_identifier);
+    #endif
+    }
+
+    const rosidl_message_type_support_t *
+    get_message_typesupport_handle(const std::string &type,
+                                   const std::string &typesupport_identifier,
+                                   std::shared_ptr<rcpputils::SharedLibrary> library) {
+    #ifdef ROS_HUMBLE
+        return rosbag2_cpp::get_typesupport_handle(type, typesupport_identifier, library);
+    #else
+        return rclcpp::get_message_typesupport_handle(type, typesupport_identifier, *library);
+    #endif
+    }
+}

src/typesupport_wrapper.h

@@ -0,0 +1,23 @@
+/*
+ * Wrappers to keep compatibility with all active ROS versions as of 01/2026 (Kilted, Jazzy, Humble). Dropping of
+ * this file should be reevaluated once Humble goes end of life (07/2027).
+ */
+
+#ifndef TYPESUPPORT_WRAPPER_H
+#define TYPESUPPORT_WRAPPER_H
+
+#include <memory>
+#include "rcpputils/shared_library.hpp"
+#include "rosidl_runtime_cpp/message_type_support_decl.hpp"
+
+namespace wrapper {
+    std::shared_ptr<rcpputils::SharedLibrary>
+    get_typesupport_library(const std::string & type, const std::string & typesupport_identifier);
+
+    const rosidl_message_type_support_t *
+    get_message_typesupport_handle(const std::string &type,
+                                   const std::string &typesupport_identifier,
+                                   std::shared_ptr<rcpputils::SharedLibrary> library);
+}
+
+#endif //TYPESUPPORT_WRAPPER_H