Notify API breaks (#2086)

* Notify API breaks API breaks introduced in ros2/rclcpp#1612 Signed-off-by: Mauro Passerino <[email protected]> * Address PR suggestions Signed-off-by: Mauro Passerino <[email protected]> Co-authored-by: Mauro Passerino <[email protected]>
ros2 · Nov 29, 2021 · 9b74059 · 9b74059
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commit 9b74059
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diff --git a/source/Releases/Release-Humble-Hawksbill.rst b/source/Releases/Release-Humble-Hawksbill.rst
@@ -226,6 +226,22 @@ For more details, see `REP 2007 <https://ros.org/reps/rep-2007.html>`_.
 
 For more details, please refer to this `pull request <https://github.com/ros2/rclcpp/pull/1723>`_.
 
+``add_to_wait_set`` method from ``Waitable`` class changes its return type from ``bool`` to ``void``
+""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""
+Before, classes derived from ``Waitable`` overriding ``add_to_wait_set`` were returning false when failing to add elements to the wait set, so the caller had to check this return value and throw or handle the error.
+This error handling should now be done directly on ``add_to_wait_set`` method, throwing if necessary.
+It is not required to return anything if no errors happened.
+Thus, this is a breaking change for downstream uses of ``Waitable``.
+
+See `ros2/rclcpp#1612 <https://github.com/ros2/rclcpp/pull/1612>`__ for more details.
+
+``get_notify_guard_condition`` method return type from ``NodeBaseInterface`` class changed
+""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""
+Now ``rclcpp`` uses the ``GuardCondition`` class wrapper around ``rcl_guard_condition_t``, so ``get_notify_guard_condition`` returns a reference to the node's ``rclcpp::GuardCondition``.
+Thus, this is a breaking change for downstream uses of ``NodeBaseInterface`` and ``NodeBase``.
+
+See `ros2/rclcpp#1612 <https://github.com/ros2/rclcpp/pull/1612>`__ for more details.
+
 ros2cli
 ^^^^^^^