From e3d9ad7c6d6473ab24b052c0c5709bd1c258ce33 Mon Sep 17 00:00:00 2001 From: Furkan Davulcu Date: Wed, 19 Aug 2026 15:08:42 +0200 Subject: [PATCH] fix: silence tl_expected and rmw_qos deprecation warnings Declare libexpected-dev in example_behaviors so the tl/expected.hpp include resolves through find_package(tl-expected) rather than the compiler's default include path. Co-Authored-By: Claude Fable 5 --- src/example_behaviors/CMakeLists.txt | 4 +++- .../example_behaviors/example_sam2_segmentation.hpp | 2 +- src/example_behaviors/package.xml | 1 + src/example_behaviors/src/example_ndt_registration.cpp | 2 +- .../src/example_ransac_registration.cpp | 2 +- .../src/example_sam2_segmentation.cpp | 2 +- .../src/protective_stop_manager_node.cpp | 10 +++++----- 7 files changed, 13 insertions(+), 10 deletions(-) diff --git a/src/example_behaviors/CMakeLists.txt b/src/example_behaviors/CMakeLists.txt index d428d534c..cd73207b1 100644 --- a/src/example_behaviors/CMakeLists.txt +++ b/src/example_behaviors/CMakeLists.txt @@ -11,6 +11,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS path_ik moveit_pro_behavior foreach(package IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS}) find_package(${package} REQUIRED) endforeach() +find_package(tl-expected REQUIRED) add_library( example_behaviors @@ -35,6 +36,7 @@ target_include_directories( PRIVATE ${PCL_INCLUDE_DIRS}) ament_target_dependencies(example_behaviors ${THIS_PACKAGE_INCLUDE_DEPENDS}) +target_link_libraries(example_behaviors tl::expected) # Install Libraries install( @@ -59,5 +61,5 @@ pluginlib_export_plugin_description_file( moveit_pro_behavior_interface example_behaviors_plugin_description.xml) ament_export_targets(example_behaviorsTargets HAS_LIBRARY_TARGET) -ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS}) +ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} tl-expected) ament_package() diff --git a/src/example_behaviors/include/example_behaviors/example_sam2_segmentation.hpp b/src/example_behaviors/include/example_behaviors/example_sam2_segmentation.hpp index 0435b07a7..fd14a8eef 100644 --- a/src/example_behaviors/include/example_behaviors/example_sam2_segmentation.hpp +++ b/src/example_behaviors/include/example_behaviors/example_sam2_segmentation.hpp @@ -10,7 +10,7 @@ #include #include #include -#include +#include namespace example_behaviors { diff --git a/src/example_behaviors/package.xml b/src/example_behaviors/package.xml index 5b499c4f4..aea0883c7 100644 --- a/src/example_behaviors/package.xml +++ b/src/example_behaviors/package.xml @@ -20,6 +20,7 @@ moveit_studio_vision_msgs moveit_studio_vision moveit_pro_behavior + libexpected-dev moveit_pro_sam2 diff --git a/src/example_behaviors/src/example_ndt_registration.cpp b/src/example_behaviors/src/example_ndt_registration.cpp index c16d147f5..b508f9385 100644 --- a/src/example_behaviors/src/example_ndt_registration.cpp +++ b/src/example_behaviors/src/example_ndt_registration.cpp @@ -19,7 +19,7 @@ #include #include #include -#include +#include namespace example_behaviors { diff --git a/src/example_behaviors/src/example_ransac_registration.cpp b/src/example_behaviors/src/example_ransac_registration.cpp index 58e682770..70cd7f20c 100644 --- a/src/example_behaviors/src/example_ransac_registration.cpp +++ b/src/example_behaviors/src/example_ransac_registration.cpp @@ -19,7 +19,7 @@ #include #include #include -#include +#include namespace example_behaviors { diff --git a/src/example_behaviors/src/example_sam2_segmentation.cpp b/src/example_behaviors/src/example_sam2_segmentation.cpp index f234ece2f..576eb717a 100644 --- a/src/example_behaviors/src/example_sam2_segmentation.cpp +++ b/src/example_behaviors/src/example_sam2_segmentation.cpp @@ -16,7 +16,7 @@ #include #include #include -#include +#include namespace { diff --git a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp index a0954c8e7..6e65c6bd1 100644 --- a/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp +++ b/src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp @@ -31,9 +31,9 @@ ProtectiveStopManager::ProtectiveStopManager(const rclcpp::NodeOptions& options) kRecoveryServiceName, [this](const std_srvs::srv::Trigger::Request::SharedPtr request, std_srvs::srv::Trigger::Response::SharedPtr response) { recoverFromProtectiveStop(request, response); }, - rmw_qos_profile_services_default, reentrant_callback_group_)) - , switch_controller_client_(create_client( - kSwitchControllerService, rmw_qos_profile_services_default, reentrant_callback_group_)) + rclcpp::ServicesQoS(), reentrant_callback_group_)) + , switch_controller_client_( + create_client(kSwitchControllerService, rclcpp::ServicesQoS(), reentrant_callback_group_)) , fault_status_publisher_(create_publisher(kFaultStatusTopic, 1)) , fault_status_timer_(create_wall_timer(kFaultStatusPeriod, [this] { this->publishFaultStatus(); })) , in_fault_(false) @@ -44,8 +44,8 @@ ProtectiveStopManager::ProtectiveStopManager(const rclcpp::NodeOptions& options) in_fault_ = msg->data; last_fault_status_update_ = this->now(); })) - , fault_reset_client_(create_client(kResetFault, rmw_qos_profile_services_default, - reentrant_callback_group_)) + , fault_reset_client_( + create_client(kResetFault, rclcpp::ServicesQoS(), reentrant_callback_group_)) { declare_parameter>(kParameterControllersDefaultActive, std::vector{}); declare_parameter>(kParameterControllersDefaultNotActive, std::vector{});