Fix: Silence tl_expected and rmw_qos_profile_t deprecation warnings

[fdavulcu]

[written by AI]

A fresh moveit_pro build prints deprecation warnings from two sources in this workspace:

• example_behaviors includes the deprecated tl_expected/expected.hpp wrapper, which ROS Jazzy's tl_expected 1.3.1 flags with a #pragma message on every include. Switched to <tl/expected.hpp> from libexpected-dev, the replacement the deprecation notice recommends. The header ships in the MoveIt Pro runtime image, so this builds against current releases. The package declares the dependency it now consumes directly: <depend>libexpected-dev</depend>, find_package(tl-expected REQUIRED), an explicit tl::expected link, and the ament_export_dependencies entry (the system config exports only the imported target, so ament_target_dependencies cannot carry it).
• moveit_studio_kinova_pstop_manager uses the rmw_qos_profile_t overloads of create_service/create_client, deprecated in favor of rclcpp::QoS. Switched to rclcpp::ServicesQoS(), which wraps the same profile.

Release notes

None

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro Plus

Run ID: 44531d99-0069-46f4-a264-a517897f5fbc

📥 Commits

Reviewing files that changed from the base of the PR and between b413cac and e3d9ad7.

📒 Files selected for processing (2)

• src/example_behaviors/CMakeLists.txt
• src/example_behaviors/package.xml

Included review availability: 9 reviews are currently available. Your included PR review attempts over the past 7 days set your current allowance at 10 reviews per hour.

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📝 Walkthrough

Summary by CodeRabbit

• Bug Fixes
  • Improved compatibility and build reliability for example behaviors by updating expected-value support.
  • Improved service communication reliability for controller switching and fault-reset operations through standardized quality-of-service settings.
  • Added the required support package so affected examples can be configured and built consistently across supported environments.

Walkthrough

The pull request updates four expected-library include paths, adds the required package dependencies, and replaces the default ROS 2 service QoS profile with rclcpp::ServicesQoS() in the protective-stop manager.

Changes

Expected header updates

Layer / File(s)	Summary
Update expected-library includes src/example_behaviors/include/..., src/example_behaviors/src/..., src/example_behaviors/CMakeLists.txt, src/example_behaviors/package.xml	The example behavior files use tl/expected.hpp. The package discovers, links, exports, and declares the expected-library dependency.

Protective-stop service QoS

Layer / File(s)	Summary
Update protective-stop service QoS src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp	The recovery service, controller-switch client, callback-group wiring, and fault-reset client use rclcpp::ServicesQoS().

Suggested reviewers: jwhitleywork

Merge Risk: ⚪ Minimal · up to e3d9a

This PR only updates deprecated API usage and declares the corresponding dependency, with no actionable merge-blocking risk remaining beyond normal checks.

🚥 Pre-merge checks | ✅ 4

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description check	✅ Passed	The description directly explains the include, dependency, and QoS changes in the pull request.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Human Review Check	✅ Passed	The 7-file diff only updates expected headers/dependencies and service QoS wrappers; it adds no auth, CI/infra, launch, public API, or core behavior changes.

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[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 33 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 18 passed

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 33 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 18 passed