From f8515250466bbf4c0a4b36e700cca3ef768c2a2b Mon Sep 17 00:00:00 2001
From: Sebastian Jakymiw <sjakymiw@irobot.com>
Date: Mon, 9 Jan 2023 11:35:15 -0500
Subject: [PATCH] add dynamic network notify function

---
 rcl/include/rcl/node.h |  5 +++++
 rcl/src/rcl/node.c     | 10 ++++++++++
 2 files changed, 15 insertions(+)

diff --git a/rcl/include/rcl/node.h b/rcl/include/rcl/node.h
index b9b864358..6c101788c 100644
--- a/rcl/include/rcl/node.h
+++ b/rcl/include/rcl/node.h
@@ -549,6 +549,11 @@ RCL_PUBLIC
 rcl_ret_t
 rcl_get_disable_loaned_message(bool * disable_loaned_message);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_notify_participant_dynamic_network_interface(rcl_context_t * context);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
index 4afc40f53..d6db89cf5 100644
--- a/rcl/src/rcl/node.c
+++ b/rcl/src/rcl/node.c
@@ -536,6 +536,16 @@ rcl_get_disable_loaned_message(bool * disable_loaned_message)
   *disable_loaned_message = (strcmp(env_val, "1") == 0);
   return RCL_RET_OK;
 }
+
+rcl_ret_t
+rcl_notify_participant_dynamic_network_interface(rcl_context_t * context)
+{
+  if(!rcl_context_is_valid(context))
+  {
+    return RCL_RET_NODE_INVALID;
+  }
+  return rmw_notify_participant_dynamic_network_interface(&(context->impl->rmw_context));
+}
 #ifdef __cplusplus
 }
 #endif