add comments on source-compatibility with Humble

ros-controls · Mar 1, 2024 · 31a0531 · 31a0531
1 parent 9d45200
commit 31a0531
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diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -172,6 +172,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   virtual rclcpp::NodeOptions define_custom_node_options() const
   {
+// \note The versions conditioning is added here to support the source-compatibility with Humble
 #if RCLCPP_VERSION_MAJOR >= 21
     return rclcpp::NodeOptions().enable_logger_service(true);
 #else

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -36,6 +36,7 @@ static constexpr const char * kChainableControllerInterfaceClassName =
   "controller_interface::ChainableControllerInterface";
 
 // Changed services history QoS to keep all so we don't lose any client service calls
+// \note The versions conditioning is added here to support the source-compatibility with Humble
 #if RCLCPP_VERSION_MAJOR >= 17
 rclcpp::QoS qos_services =
   rclcpp::QoS(rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 1))