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add ROS 2 ContentFilteredTopic for Humble Release Note. (backport #2396) #2448

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May 2, 2022
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add ROS 2 ContentFilteredTopic for Humble Release Note. (backport #2396) #2448

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22 changes: 21 additions & 1 deletion source/Releases/Release-Humble-Hawksbill.rst
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Expand Up @@ -95,6 +95,26 @@ Certificate Revocation Lists (CRLs) are a concept where particular certificates
As of Humble, it is now possible to put a CRL in an SROS2 security enclave and have it be honored.
See `the SROS2 tutorials <https://github.com/ros2/sros2/blob/master/SROS2_Linux.md#certificate-revocation-lists>`__ for an example of how to use it.

Content Filtered Topics
^^^^^^^^^^^^^^^^^^^^^^^

Content Filtered Topics supports a more sophisticated subscription that indicates the subscriber does not want to necessarily see all values of each instance published under the Topic.
Content Filtered Topics can be used to request content-based subscriptions when underlying RMW implementation supports this feature.

.. list-table:: RMW Content Filtered Topics support
:widths: 25 25

* - rmw_fastrtps
- supported
* - rmw_connextdds
- supported
* - rmw_cyclonedds
- not supported

To learn more, see the `content_filtering <https://github.com/ros2/examples/blob/master/rclcpp/topics/minimal_subscriber/content_filtering.cpp>`_ examples.

Related design PR: `ros2/design#282 <https://github.com/ros2/design/pull/282>`_.

Changes since the Galactic release
----------------------------------

Expand Down Expand Up @@ -219,7 +239,7 @@ And an example of how the type adapter can be used:
10,
[](const std::string & msg) {...});

To learn more, see the `publisher <https://github.com/ros2/examples/blob/b83b18598b198b4a5ba44f9266c1bb39a393fa17/rclcpp/topics/minimal_publisher/member_function_with_type_adapter.cpp>`_ and `subscription <https://github.com/ros2/examples/blob/b83b18598b198b4a5ba44f9266c1bb39a393fa17/rclcpp/topics/minimal_subscriber/member_function_with_type_adapter.cpp>`_) examples, as well as a more complex `demo <https://github.com/ros2/demos/pull/482>`_.
To learn more, see the `publisher <https://github.com/ros2/examples/blob/b83b18598b198b4a5ba44f9266c1bb39a393fa17/rclcpp/topics/minimal_publisher/member_function_with_type_adapter.cpp>`_ and `subscription <https://github.com/ros2/examples/blob/b83b18598b198b4a5ba44f9266c1bb39a393fa17/rclcpp/topics/minimal_subscriber/member_function_with_type_adapter.cpp>`_ examples, as well as a more complex `demo <https://github.com/ros2/demos/pull/482>`_.
For more details, see `REP 2007 <https://ros.org/reps/rep-2007.html>`_.

``get_callback_groups`` method removed from ``NodeBase`` and ``Node`` classes
Expand Down