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Migration Guides: Humble to Jazzy

This list summarizes important changes between Humble (previous) and Jazzy (current) releases, where changes to user code might be necessary.

Note

This list was created in June 2025 (tag 3.6.0), earlier changes may not be included.

RealtimeBox

• RealtimeBox is deprecated. Update your code to use realtime_thread_safe_box.hpp header, and class name RealtimeThreadSafeBox instead. (#318, #342).

RealtimePublisher

• RealtimePublisher is updated with a new try_publish API.

  • Update your code with a local message variable and call try_publish with that variable. (#323).

  • msg_ variable is inaccessible now (#421).

• RealtimePublisher is updated with a template constructor that creates the publisher internally, and the legacy constructor taking a pre-created publisher has been deprecated.

  • Instead of creating a publisher first and passing it to the constructor, you can now pass the node (or node interface/pointer), topic name, QoS, and publisher options directly to RealtimePublisher. (#573).