During the last months we have being improving point_cloud_transport and image_point_transport API, in particular to close some major ROS 2 feature gaps
- Be able to use lifecycle node
- replace rmw_qos_profile_t with rclcpp::QoS
Related PR: https://github.com/ros-perception/image_common/pull/364 Support lifecycle node - NodeInterfaces by ahcorde · Pull Request #352 · ros-perception/image_common · GitHub Removed deprecated code by ahcorde · Pull Request #356 · ros-perception/image_common · GitHub Update subscriber filter by elsayedelsheikh · Pull Request #126 · ros-perception/point_cloud_transport · GitHub Simplify NodeInterface API mehotd call by ahcorde · Pull Request #129 · ros-perception/point_cloud_transport · GitHub Deprecated rmw_qos_profile_t by ahcorde · Pull Request #125 · ros-perception/point_cloud_transport · GitHub Feat/Add LifecycleNode Support by elsayedelsheikh · Pull Request #109 · ros-perception/point_cloud_transport · GitHub
Some of these changes are breaking ABI (only on rolling). If you are maintaining a point_cloud_transport or image_transport plugins you should probably update a little bit your code to remove new deprecation warnings and avoid potencial segfaults due these new changes.
Thank you everyone involved in these changes and hope this help!