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granular rclcpp/rclcpp.hpp and include what you use - #984

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granular rclcpp/rclcpp.hpp and include what you use#984
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@ahcorde ahcorde commented Sep 1, 2026

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Granular rclcpp/rclcpp.hpp also in documentation

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@ahcorde
granular rclcpp/rclcpp.hpp and include what you use
e445e3a 
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
@ahcorde ahcorde self-assigned this Sep 1, 2026
This was referenced Sep 2, 2026
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ahcorde commented Sep 2, 2026

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Pulls: ros2/examples#454, ros2/demos#806, ros2/message_filters#328, ros2/rosbag2#2483, ros2/realtime_support#151, ros/robot_state_publisher#254, #984, ros2/ros2_tracing#263, ros2/rmw_zenoh#1043, ros2/rclcpp#3249, ros2/rviz#1854
Gist: https://gist.githubusercontent.com/ahcorde/6e2c1cab51fc5d52b71e9010c493924d/raw/0bccb788339608e2fac25bcf37201b3fa7a169bb/ros2.repos
BUILD args: --packages-above-and-dependencies action_tutorials_cpp action_tutorials_py composition demo_nodes_cpp_native demo_nodes_cpp demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle lifecycle_py logging_demo pendulum_control pendulum_msgs quality_of_service_demo_cpp quality_of_service_demo_py topic_monitor topic_statistics_demo launch_testing_examples examples_rclcpp_minimal_action_client examples_rclcpp_minimal_action_server examples_rclcpp_minimal_composition examples_rclcpp_cbg_executor examples_rclcpp_multithreaded_executor examples_rclcpp_async_client examples_rclcpp_minimal_client examples_rclcpp_minimal_service examples_rclcpp_minimal_timer examples_rclcpp_minimal_publisher examples_rclcpp_minimal_subscriber examples_rclcpp_wait_set examples_rclpy_minimal_action_client examples_rclpy_minimal_action_server examples_rclpy_executors examples_rclpy_guard_conditions examples_rclpy_minimal_client examples_rclpy_minimal_service examples_rclpy_minimal_publisher examples_rclpy_minimal_subscriber examples_rclpy_pointcloud_publisher message_filters rosbag2_compression_zstd rosbag2_examples_cpp rosbag2_examples_py rosbag2_performance_benchmarking rosbag2_performance_benchmarking_msgs rosbag2_py rosbag2_test_common rosbag2_tests rosbag2_transport tlsf_cpp robot_state_publisher test_tf2 tf2_bullet tf2_kdl tf2_ros tf2_sensor_msgs lttngpy test_tracetools tracetools rmw_zenoh_cpp test_rmw_zenoh_cpp zenoh_security_tools rclcpp rviz2 rviz_common rviz_visual_testing_framework
TEST args: --packages-above action_tutorials_cpp action_tutorials_py composition demo_nodes_cpp_native demo_nodes_cpp demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle lifecycle_py logging_demo pendulum_control pendulum_msgs quality_of_service_demo_cpp quality_of_service_demo_py topic_monitor topic_statistics_demo launch_testing_examples examples_rclcpp_minimal_action_client examples_rclcpp_minimal_action_server examples_rclcpp_minimal_composition examples_rclcpp_cbg_executor examples_rclcpp_multithreaded_executor examples_rclcpp_async_client examples_rclcpp_minimal_client examples_rclcpp_minimal_service examples_rclcpp_minimal_timer examples_rclcpp_minimal_publisher examples_rclcpp_minimal_subscriber examples_rclcpp_wait_set examples_rclpy_minimal_action_client examples_rclpy_minimal_action_server examples_rclpy_executors examples_rclpy_guard_conditions examples_rclpy_minimal_client examples_rclpy_minimal_service examples_rclpy_minimal_publisher examples_rclpy_minimal_subscriber examples_rclpy_pointcloud_publisher message_filters rosbag2_compression_zstd rosbag2_examples_cpp rosbag2_examples_py rosbag2_performance_benchmarking rosbag2_performance_benchmarking_msgs rosbag2_py rosbag2_test_common rosbag2_tests rosbag2_transport tlsf_cpp robot_state_publisher test_tf2 tf2_bullet tf2_kdl tf2_ros tf2_sensor_msgs lttngpy test_tracetools tracetools rmw_zenoh_cpp test_rmw_zenoh_cpp zenoh_security_tools rclcpp rviz2 rviz_common rviz_visual_testing_framework
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/20307

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This was referenced Sep 2, 2026
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wjwwood
wjwwood requested changes Sep 2, 2026
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I think it's off-topic a bit, but I think removing the use of RCUTILS_LOG_ERROR in tf2, preferring the RCLCPP versions, and avoiding the need to depend on rcutils directly.

Comment thread tf2_ros/src/static_transform_broadcaster_program.cpp
#include "tf2/LinearMath/Vector3.hpp"

#include "rclcpp/rclcpp.hpp"
#include "rcutils/logging_macros.h"

@wjwwood wjwwood Sep 2, 2026

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Is this change needed? Seems like it would be covered by rclcpp's logging.hpp, but maybe it's because we're using rcutils macros directly here?

Comment thread tf2_ros/CMakeLists.txt
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rcpputils REQUIRED)
find_package(rcutils REQUIRED)

@wjwwood wjwwood Sep 2, 2026

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This is a reaction to the other include statement I commented on.

@wjwwood

wjwwood commented Sep 2, 2026

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Due to the difficulty of testings these changes, I'd also be ok with a follow up pr to address this issue.

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