Replace rosbag2_cpp typesupport helpers with rclcpp typesupport helpers

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/DataLoadROS2/dataload_ros2.cpp

@@ -17,7 +17,6 @@
 #include <rosidl_typesupport_introspection_cpp/message_introspection.hpp>
 #include <rosidl_typesupport_introspection_cpp/field_types.hpp>
 #include <rosidl_typesupport_cpp/identifier.hpp>
-#include <rosbag2_cpp/typesupport_helpers.hpp>
 #include <rosbag2_cpp/types/introspection_message.hpp>
 #include <unordered_map>
 #include <rclcpp/rclcpp.hpp>
@@ -94,7 +93,6 @@ bool DataLoadROS2::readDataFromFile(PJ::FileLoadInfo* info, PJ::PlotDataMapRef&
     all_topics_qt.push_back({ QString::fromStdString(topic.name), QString::fromStdString(topic.type) });
     topicTypesByName.emplace(topic.name, topic.type);
 
-    const auto& typesupport_identifier = rosidl_typesupport_cpp::typesupport_identifier;
     try
     {
       topics_info.emplace_back(CreateTopicInfo(topic.name, topic.type));

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:
@@ -48,8 +50,8 @@ class GenericPublisher : public rclcpp::PublisherBase
   static std::shared_ptr<GenericPublisher> create(rclcpp::Node& node, const std::string& topic_name,
                                                   const std::string& topic_type)
   {
-    auto library = std::move(rosbag2_cpp::get_typesupport_library(topic_type, "rosidl_typesupport_cpp"));
-    auto type_support = rosbag2_cpp::get_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);
@@ -35,17 +37,15 @@ bool TypeHasHeader(const rosidl_message_type_support_t* type_support)
 std::string CreateSchema(const std::string& base_type)
 {
   std::string schema;
-  using TypeSupport = rosidl_message_type_support_t;
   using namespace rosidl_typesupport_introspection_cpp;
 
   std::set<std::string> secondary_types_pending;
   std::set<std::string> secondary_types_done;
 
   auto addTypeToSchema = [&](const std::string& type_name, bool add_header) {
-    auto introspection_library =
-        rosbag2_cpp::get_typesupport_library(type_name, "rosidl_typesupport_introspection_cpp");
-    auto introspection_support =
-        rosbag2_cpp::get_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)
     {
@@ -147,13 +147,13 @@ TopicInfo CreateTopicInfo(const std::string& topic_name, const std::string& type
   info.topic_name = topic_name;
   info.type = type_name;
 
-  info.introspection_library = rosbag2_cpp::get_typesupport_library(type_name, "rosidl_typesupport_introspection_cpp");
-  info.introspection_support = rosbag2_cpp::get_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 = rosbag2_cpp::get_typesupport_library(type_name, identifier);
-  info.type_support = rosbag2_cpp::get_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 "rosbag2_cpp/typesupport_helpers.hpp"
 #include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
 
 #include <PlotJuggler/plotdata.h>

src/typesupport_wrapper.cpp

@@ -0,0 +1,34 @@
+
+
+#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
+}
+}  // namespace wrapper

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);
+}  // namespace wrapper
+
+#endif  // TYPESUPPORT_WRAPPER_H