Add std::vector compatible swap() API to rosidl::Buffer#959
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Add std::vector compatible swap() API to rosidl::Buffer#959
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Signed-off-by: CY Chen <cyc@nvidia.com>
nvcyc
requested review from
MiguelCompany,
ahcorde,
hidmic,
karsten-nvidia,
mjcarroll,
sloretz and
yuanknv
MiguelCompany
suggested changes
Apr 22, 2026
| EXPECT_EQ(2, buffers[1][0]); | ||
| EXPECT_EQ(3, buffers[2][0]); | ||
| } | ||
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I would add tests checking that calling swap on non-CPU buffers throws an exception.
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Confirming that this fixes the problem reported in ros-perception/perception_pcl#529. But note that even with this change, some packages would still need to be updated. Besides PCL, I discovered wep21/bag2_to_image#8, where the compatibility with OpenCV was broken. |
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Description
Adds the missing
swap()APIs torosidl::Bufferso that it remains a true drop-in replacement forstd::vectorin CPU-backed message fields.Specifically the following functions are added for
rosidl::Buffer(src/ros2/rosidl/rosidl_buffer/include/rosidl_buffer/buffer.hpp):swap(Buffer &)swap(std::vector<T, Allocator> &)rosidl::swap(Buffer&, Buffer&)rosidl::swap(Buffer&, std::vector&)rosidl::swap(std::vector&, Buffer&)Is this user-facing behavior change?
Yes.
rosidl::Buffernow supports all theswapforms thatstd::vectordoes, including the cross-type cases withstd::vector.Additional Information
This is to fix the issue discovered from ros-perception/perception_pcl#529.