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std::byte take 2#937

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InvincibleRMC wants to merge 6 commits intorollingfrom
rmc/std--byte2
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std::byte take 2#937
InvincibleRMC wants to merge 6 commits intorollingfrom
rmc/std--byte2

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@InvincibleRMC InvincibleRMC commented Mar 6, 2026 •
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Description

Fixes TODO: To migrate to std::byte

Is this user-facing behavior change?

Yes this will emits lots of deprecation warnings but should be compile compatible.

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Take 2
80bf15b 
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
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InvincibleRMC commented Mar 6, 2026

Pulls: #937
Gist: https://gist.githubusercontent.com/InvincibleRMC/90c7871e4a6ec41c4a4ed4a3b2fa6121/raw/1b3b7fdd8ce51a7195dea6e47ca861c907f33a2a/ros2.repos
BUILD args: --continue-on-error --packages-above-and-dependencies rosidl_generator_cpp rosidl_runtime_cpp
TEST args: --packages-above rosidl_generator_cpp rosidl_runtime_cpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18370

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@InvincibleRMC
fix cpplint
0ed4e93 
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
@InvincibleRMC
add value_to_yaml for std::byte
faccf0d 
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
@InvincibleRMC
resolve internal deprecation warnings
04ce502 
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
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InvincibleRMC commented Mar 6, 2026

Pulls: #937
Gist: https://gist.githubusercontent.com/InvincibleRMC/e482ece444e048053d3ce241cffde06c/raw/1b3b7fdd8ce51a7195dea6e47ca861c907f33a2a/ros2.repos
BUILD args: --continue-on-error --packages-above-and-dependencies rosidl_generator_cpp rosidl_generator_tests rosidl_runtime_cpp rosidl_typesupport_introspection_cpp rosidl_typesupport_introspection_tests
TEST args: --packages-above rosidl_generator_cpp rosidl_generator_tests rosidl_runtime_cpp rosidl_typesupport_introspection_cpp rosidl_typesupport_introspection_tests
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18371

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@InvincibleRMC
Make a copy of MSG_TYPE_TO_CPP
f3aaf3a 
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
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InvincibleRMC commented Mar 6, 2026

Pulls: #937
Gist: https://gist.githubusercontent.com/InvincibleRMC/1c905ecfa0619d75318011c771e142ab/raw/1b3b7fdd8ce51a7195dea6e47ca861c907f33a2a/ros2.repos
BUILD args: --continue-on-error --packages-above-and-dependencies rosidl_generator_cpp rosidl_generator_tests rosidl_runtime_cpp rosidl_typesupport_introspection_cpp rosidl_typesupport_introspection_tests
TEST args: --packages-above rosidl_generator_cpp rosidl_generator_tests rosidl_runtime_cpp rosidl_typesupport_introspection_cpp rosidl_typesupport_introspection_tests
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18373

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@InvincibleRMC
Add converter to integral types
9800a81 
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
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InvincibleRMC commented Mar 7, 2026

Pulls: #937
Gist: https://gist.githubusercontent.com/InvincibleRMC/dbd3ed9468cc2c214da334b104cacae0/raw/1b3b7fdd8ce51a7195dea6e47ca861c907f33a2a/ros2.repos
BUILD args: --continue-on-error --packages-above-and-dependencies rosidl_generator_cpp rosidl_generator_tests rosidl_runtime_cpp rosidl_typesupport_introspection_cpp rosidl_typesupport_introspection_tests
TEST args: --packages-above rosidl_generator_cpp rosidl_generator_tests rosidl_runtime_cpp rosidl_typesupport_introspection_cpp rosidl_typesupport_introspection_tests
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18381

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InvincibleRMC commented Mar 8, 2026

Pulls: #937, ros2/rosidl_typesupport_fastrtps#143
Gist: https://gist.githubusercontent.com/InvincibleRMC/40a51023beb67e54308e685de58cb34a/raw/352e0fbf52a7d3ea0f07a303d860a9ac440b217d/ros2.repos
BUILD args: --continue-on-error --packages-above-and-dependencies rosidl_generator_cpp rosidl_generator_tests rosidl_runtime_cpp rosidl_typesupport_introspection_cpp rosidl_typesupport_introspection_tests rosidl_typesupport_fastrtps_cpp
TEST args: --packages-above rosidl_generator_cpp rosidl_generator_tests rosidl_runtime_cpp rosidl_typesupport_introspection_cpp rosidl_typesupport_introspection_tests rosidl_typesupport_fastrtps_cpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18384

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@InvincibleRMC InvincibleRMC mentioned this pull request Mar 8, 2026
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InvincibleRMC commented Mar 8, 2026

Pulls: #937, ros2/rosidl_typesupport_fastrtps#143
Gist: https://gist.githubusercontent.com/InvincibleRMC/bfb57b75e7610b75e6125de561634834/raw/352e0fbf52a7d3ea0f07a303d860a9ac440b217d/ros2.repos
BUILD args: --continue-on-error --packages-above-and-dependencies rosidl_generator_cpp rosidl_generator_tests rosidl_runtime_cpp rosidl_typesupport_introspection_cpp rosidl_typesupport_introspection_tests rosidl_typesupport_fastrtps_cpp
TEST args: --packages-above rosidl_generator_cpp rosidl_generator_tests rosidl_runtime_cpp rosidl_typesupport_introspection_cpp rosidl_typesupport_introspection_tests rosidl_typesupport_fastrtps_cpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18385

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mjcarroll
mjcarroll reviewed Mar 8, 2026
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Comment thread rosidl_runtime_cpp/include/rosidl_runtime_cpp/byte_helpers.hpp
using Base::Base;

operator std::vector<std::byte> &() {
return *reinterpret_cast<std::vector<std::byte> *>(this);
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This looked suspect, so I verified, and I'm pretty sure this is undefined behavior. You can reinterpret cast the elements of the vector, but not the entire vector structure itself because C++.

If we move forward to C++20, this would be a good use of span.

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We already discussed C++20, so maybe

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Yeah. Its super cooked on C++17. Also without template specialization coercion there is no way to make this a complete no breaking change. Not sure how much of a problem this is in the practical sense but did notice it which is why type support had to be updated. Maybe the proper method is just add a second byte field then deprecate the old one? But also maybe it's not worth the hassle to be technically correct.

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InvincibleRMC commented Mar 10, 2026

Pulls: #937, ros2/demos#777
Gist: https://gist.githubusercontent.com/InvincibleRMC/591d30b32eb8248ede602c9fe983677c/raw/18abe2a0c42e11d47e0e7e7758c492533ce55070/ros2.repos
BUILD args: --continue-on-error --packages-above-and-dependencies lifecycle_py
TEST args: --packages-above lifecycle_py
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18421

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@InvincibleRMC InvincibleRMC mentioned this pull request Mar 10, 2026
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InvincibleRMC commented Mar 21, 2026

I think the easiest way would be to use #945. And just add a new_byte type. And use deprecation to transition users. Rather than do this fancy stuff with coerecion.

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