Migrate from tl_expected to libexpected-dev system package#81
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cpp_polyfills 2.0.x (lyrical/rolling) dropped the tl_expected sub-package, so packages depending on the rosdep key tl_expected fail to resolve on ubuntu:resolute (lyrical and rolling base). Follow the migration pattern from RSL #159: - package.xml dep: tl_expected -> libexpected-dev - CMake find_package: tl_expected -> tl-expected (dash) - CMake target: tl_expected::tl_expected -> tl::expected - source includes: <tl_expected/expected.hpp> -> <tl/expected.hpp> libexpected-dev provides tl-expectedConfig.cmake on jammy/noble/ resolute, so the change works for all 5 ROS distros. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
The CI container ghcr.io/picknikrobotics/pick_ik:ci is built by docker.yaml only on push (not pull_request), so PRs that change package.xml always run against a stale image. Running rosdep install at CI time picks up new system deps (like the libexpected-dev migration in this PR) without waiting for a container rebuild after merge. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
The pre-built CI container has the ROS GPG key baked into its apt trusted.gpg keyring, and that key has now expired (EXPKEYSIG F42ED6FBAB17C654). apt-get update fails for the ros2-testing source, so rosdep install can't fetch any new deps either. Fetch the current ros.key from rosdistro at CI time. This is already the recommended workaround in the ROS Discourse threads on the topic. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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Summary
cpp_polyfills 2.0.x (lyrical/rolling) dropped the
tl_expectedsub-package as part of the migration outlined in PickNikRobotics/generate_parameter_library#311. pick_ik's existing<depend>tl_expected</depend>breaksbloom-releasefor lyrical and rolling on Ubuntu Resolute (rosdep key unresolvable).This PR follows the same migration pattern as PickNikRobotics/RSL#159:
package.xmldep:tl_expected→libexpected-devfind_package:tl_expected→tl-expected(note dash, not underscore)tl_expected::tl_expected→tl::expected<tl_expected/expected.hpp>→<tl/expected.hpp>libexpected-devprovidestl-expectedConfig.cmakeon jammy/noble/resolute, so the change works for all 5 currently-active ROS distros (humble through rolling).Test plan
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