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Add a Humble release note about the include directory change. #3703

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Jun 5, 2023
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Add a Humble release note about the include directory change. #3703

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46 changes: 39 additions & 7 deletions source/Releases/Release-Humble-Hawksbill.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -43,10 +43,6 @@ Installation

`Install Humble Hawksbill <../../humble/Installation.html>`__

New features in this ROS 2 release
----------------------------------


Changes in Patch Release 1 (2022-11-23)
---------------------------------------

Expand All @@ -61,7 +57,7 @@ This behavior matches that of ROS 1's ``rostopic`` (http://wiki.ros.org/ROS/YAML

Related PR: `ros2/ros2cli#751 <https://github.com/ros2/ros2cli/pull/751>`_

Changes since the Galactic release
New features in this ROS 2 release
----------------------------------

ament_cmake_gen_version_h
Expand Down Expand Up @@ -316,8 +312,8 @@ New actions

* Related PRs: `ros2/launch_ros#260 <https://github.com/ros2/launch_ros/pull/260>`_ and `ros2/launch_ros#281 <https://github.com/ros2/launch_ros/pull/281>`_

SROS2 Security enclaves now support Certificate Revocation Lists
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
SROS2 Security enclaves support Certificate Revocation Lists
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Certificate Revocation Lists (CRLs) are a concept where particular certificates can be revoked before their expiration.
As of Humble, it is now possible to put a CRL in an SROS2 security enclave and have it be honored.
Expand Down Expand Up @@ -446,6 +442,42 @@ See `ros2/rviz#849 <https://github.com/ros2/rviz/pull/849>`__ for more informati
Changes since the Galactic release
----------------------------------

C++ headers are installed in a subdirectory
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

In ROS 2 releases prior to Humble, C++ headers for all packages were installed into a single include directory.
For instance, in Galactic, the directory structure looks like this (reduced for brevity):

.. code::

/opt/ros/galactic/include/
├── rcl
│   ├── node.h
├── rclcpp
│   ├── node.hpp


This structure can cause serious problems when trying to use overlays.
That is, it is very possible to get the wrong set of header files due to include directory order.
See https://colcon.readthedocs.io/en/released/user/overriding-packages.html for a detailed explanation of the problems.

To help combat this, in Humble (and in all ROS 2 releases going forward), the directory structure has changed:

.. code::

/opt/ros/humble/include
├── rcl
│   └── rcl
│   ├── node.h
├── rclcpp
│   └── rclcpp
│   ├── node.hpp

Note that downstream packages that use these headers do *not* have to change; using ``#include <rclcpp/node.hpp>`` works as it always did before.
However, when using IDEs that are looking for include directories, it may be necessary to add the individual include directories to the search path.

See https://github.com/ros2/ros2/issues/1150 for more information, including the reasoning behind this change.

common_interfaces
^^^^^^^^^^^^^^^^^

Expand Down