Merge branch 'master' into cleanup/deprecations

Author: christophfroehlich

realtime_tools/include/realtime_tools/realtime_publisher.hpp

@@ -156,7 +156,25 @@ class RealtimePublisher
 
   const std::thread & get_thread() const { return thread_; }
 
-  const MessageT & get_msg() const { return msg_; }
+  [[deprecated(
+    "This getter method will be removed. It is recommended to use the try_publish() instead of "
+    "accessing the msg_ variable.")]]
+  const MessageT & get_msg() const
+  {
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+    return msg_;
+#ifdef _MSC_VER
+#pragma warning(pop)
+#else
+#pragma GCC diagnostic pop
+#endif
+  }
 
   std::mutex & get_mutex() { return msg_mutex_; }