Add Note about rosidl_target_interfaces deprecation in Humble (ros2#1798)

* Add rosidl_target_interfaces deprecation

* Apply suggestions from code review

Signed-off-by: Shane Loretz <[email protected]>

Co-authored-by: Chris Lalancette <[email protected]>

* Add link to ros2/demos#529 for an example

Signed-off-by: Shane Loretz <[email protected]>

Co-authored-by: Chris Lalancette <[email protected]>

Author: sloretz

source/Releases/Release-Humble-Hawksbill.rst

@@ -169,9 +169,10 @@ This is particularly unexpected when using a reliable qos profile.
 
 The number of matching subscriptions to wait before starting publishing can be configured with the ``-w/--wait-matching-subscriptions`` flags, e.g.:
 
-```
-ros2 topic pub -1 -w 3 /chatter std_msgs/msg/String "{data: 'foo'}"
-```
+.. code-block:: console
+
+   ros2 topic pub -1 -w 3 /chatter std_msgs/msg/String "{data: 'foo'}"
+
 
 to wait for three matching subscriptions before starting to publish.
 
@@ -209,6 +210,18 @@ This means that static transforms are unconditionally published to the ``/tf_sta
 This was the default behavior, and the behavior which the ``tf2_ros::TransformListener`` class expected before, so most code will not have to be changed.
 Any code that was relying on ``robot_state_publisher`` to periodically publish static transforms to ``/tf`` will have to be updated to subscribe to ``/tf_static`` as a ``transient_local`` subscription instead.
 
+
+rosidl_cmake
+^^^^^^^^^^^^
+
+Deprecation of ``rosidl_target_interfaces()``
+"""""""""""""""""""""""""""""""""""""""""""""
+
+The CMake function ``rosidl_target_interfaces()`` has been deprecated, and now issues a CMake warning when called.
+Users wanting to use messages/services/actions in the same ROS package that generated them should instead call ``rosidl_get_typesupport_target()`` and then ``target_link_libraries()`` to make their targets depend on the returned typesupport target.
+See https://github.com/ros2/rosidl/pull/606 for more details, and https://github.com/ros2/demos/pull/529 for an example of using the new function.
+
+
 Known Issues
 ------------