Fix: Silence tl_expected and rmw_qos_profile_t deprecation warnings

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()

src/example_behaviors/include/example_behaviors/example_sam2_segmentation.hpp

@@ -10,7 +10,7 @@
 #include <moveit_pro_ml/sam2_segment.hpp>
 #include <moveit_studio_vision_msgs/msg/mask2_d.hpp>
 #include <sensor_msgs/msg/image.hpp>
-#include <tl_expected/expected.hpp>
+#include <tl/expected.hpp>
 
 namespace example_behaviors
 {

src/example_behaviors/package.xml

@@ -20,6 +20,7 @@
   <depend>moveit_studio_vision_msgs</depend>
   <depend>moveit_studio_vision</depend>
   <depend>moveit_pro_behavior</depend>
+  <depend>libexpected-dev</depend>
 
   <exec_depend>moveit_pro_sam2</exec_depend>
 

src/example_behaviors/src/example_ndt_registration.cpp

@@ -19,7 +19,7 @@
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/header.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
-#include <tl_expected/expected.hpp>
+#include <tl/expected.hpp>
 
 namespace example_behaviors
 {

src/example_behaviors/src/example_ransac_registration.cpp

@@ -19,7 +19,7 @@
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/header.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
-#include <tl_expected/expected.hpp>
+#include <tl/expected.hpp>
 
 namespace example_behaviors
 {

src/example_behaviors/src/example_sam2_segmentation.cpp

@@ -16,7 +16,7 @@
 #include <moveit_studio_vision_msgs/msg/mask2_d.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <std_msgs/msg/header.hpp>
-#include <tl_expected/expected.hpp>
+#include <tl/expected.hpp>
 
 namespace
 {

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<SwitchController>(
-        kSwitchControllerService, rmw_qos_profile_services_default, reentrant_callback_group_))
+        rclcpp::ServicesQoS(), reentrant_callback_group_))
+  , switch_controller_client_(
+        create_client<SwitchController>(kSwitchControllerService, rclcpp::ServicesQoS(), reentrant_callback_group_))
   , fault_status_publisher_(create_publisher<moveit_studio_agent_msgs::msg::FaultStatus>(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<example_interfaces::srv::Trigger>(kResetFault, rmw_qos_profile_services_default,
-                                                                        reentrant_callback_group_))
+  , fault_reset_client_(
+        create_client<example_interfaces::srv::Trigger>(kResetFault, rclcpp::ServicesQoS(), reentrant_callback_group_))
 {
   declare_parameter<std::vector<std::string>>(kParameterControllersDefaultActive, std::vector<std::string>{});
   declare_parameter<std::vector<std::string>>(kParameterControllersDefaultNotActive, std::vector<std::string>{});