From 788ee64c8777882bc5b19d7844a8ee75da89d2ee Mon Sep 17 00:00:00 2001 From: Stephanie Eng Date: Fri, 13 Mar 2026 13:10:06 -0400 Subject: [PATCH 1/5] Update deprecated usage of get_package_share --- .../utils/src/robot_model_test_utils.cpp | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/moveit_core/utils/src/robot_model_test_utils.cpp b/moveit_core/utils/src/robot_model_test_utils.cpp index eea311fbec..7677856aa7 100644 --- a/moveit_core/utils/src/robot_model_test_utils.cpp +++ b/moveit_core/utils/src/robot_model_test_utils.cpp @@ -64,10 +64,12 @@ moveit::core::RobotModelPtr loadTestingRobotModel(const std::string& package_nam const std::string& urdf_relative_path, const std::string& srdf_relative_path) { - const auto urdf_path = - std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name)) / urdf_relative_path; - const auto srdf_path = - std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name)) / srdf_relative_path; + std::filesystem::path urdf_path; + ament_index_cpp::get_package_share_directory(package_name, urdf_path); + urdf_path /= urdf_relative_path; + std::filesystem::path srdf_path; + ament_index_cpp::get_package_share_directory(package_name, srdf_path); + srdf_path /= srdf_relative_path; urdf::ModelInterfaceSharedPtr urdf_model = urdf::parseURDFFile(urdf_path.string()); if (urdf_model == nullptr) @@ -95,7 +97,8 @@ moveit::core::RobotModelPtr loadTestingRobotModel(const std::string& robot_name) urdf::ModelInterfaceSharedPtr loadModelInterface(const std::string& robot_name) { const std::string package_name = "moveit_resources_" + robot_name + "_description"; - std::filesystem::path res_path(ament_index_cpp::get_package_share_directory(package_name)); + std::filesystem::path res_path; + ament_index_cpp::get_package_share_directory(package_name, res_path); std::string urdf_path; if (robot_name == "pr2") { @@ -123,13 +126,15 @@ srdf::ModelSharedPtr loadSRDFModel(const std::string& robot_name) if (robot_name == "pr2") { const std::string package_name = "moveit_resources_" + robot_name + "_description"; - std::filesystem::path res_path(ament_index_cpp::get_package_share_directory(package_name)); + std::filesystem::path res_path; + ament_index_cpp::get_package_share_directory(package_name, res_path); srdf_path = (res_path / "srdf/robot.xml").string(); } else { const std::string package_name = "moveit_resources_" + robot_name + "_moveit_config"; - std::filesystem::path res_path(ament_index_cpp::get_package_share_directory(package_name)); + std::filesystem::path res_path; + ament_index_cpp::get_package_share_directory(package_name, res_path); srdf_path = (res_path / "config" / (robot_name + ".srdf")).string(); } srdf_model->initFile(*urdf_model, srdf_path); From e59b3f83e83e53c2b0f6efb957258bebd700a8a1 Mon Sep 17 00:00:00 2001 From: Stephanie Eng Date: Fri, 13 Mar 2026 16:06:26 -0400 Subject: [PATCH 2/5] Fix more get_package_shares --- moveit_ros/planning/rdf_loader/src/rdf_loader.cpp | 5 ++--- .../include/moveit_setup_framework/utilities.hpp | 4 +++- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp index de43e05744..aa2d9cb9dd 100644 --- a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp +++ b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp @@ -217,10 +217,10 @@ bool RDFLoader::loadXmlFileToString(std::string& buffer, const std::string& path bool RDFLoader::loadPkgFileToString(std::string& buffer, const std::string& package_name, const std::string& relative_path, const std::vector& xacro_args) { - std::string package_path; + std::filesystem::path path; try { - package_path = ament_index_cpp::get_package_share_directory(package_name); + ament_index_cpp::get_package_share_directory(package_name, path); } catch (const ament_index_cpp::PackageNotFoundError& e) { @@ -228,7 +228,6 @@ bool RDFLoader::loadPkgFileToString(std::string& buffer, const std::string& pack return false; } - std::filesystem::path path(package_path); path = path / relative_path; return loadXmlFileToString(buffer, path.string(), xacro_args); diff --git a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp index ace3237c6b..d8ab665df1 100644 --- a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp +++ b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp @@ -52,7 +52,9 @@ inline std::filesystem::path getSharePath(const std::string& package_name) { try { - return std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name)); + std::filesystem::path path; + ament_index_cpp::get_package_share_directory(package_name, path); + return path; } catch (const std::runtime_error& e) { From f0b9544b1b6024f538dfbc4f8a371f119be99f76 Mon Sep 17 00:00:00 2001 From: Stephanie Eng Date: Fri, 13 Mar 2026 16:40:24 -0400 Subject: [PATCH 3/5] Update to Qt6 and hope --- moveit_ros/visualization/CMakeLists.txt | 14 +++++++------- .../motion_planning_rviz_plugin/CMakeLists.txt | 4 ++-- moveit_ros/visualization/package.xml | 3 +-- .../planning_scene_rviz_plugin/CMakeLists.txt | 2 +- .../rviz_plugin_render_tools/CMakeLists.txt | 2 +- 5 files changed, 12 insertions(+), 13 deletions(-) diff --git a/moveit_ros/visualization/CMakeLists.txt b/moveit_ros/visualization/CMakeLists.txt index 27855877a3..b7e67801b1 100644 --- a/moveit_ros/visualization/CMakeLists.txt +++ b/moveit_ros/visualization/CMakeLists.txt @@ -10,6 +10,13 @@ moveit_package() add_definitions(-DBOOST_MATH_DISABLE_FLOAT128) find_package(ament_cmake REQUIRED) + +find_package(Qt6 REQUIRED Core Widgets) +set(QT_LIBRARIES Qt6::Widgets) +macro(QT_WRAP_UI) + qt6_wrap_ui(${ARGN}) +endmacro() + find_package(class_loader REQUIRED) find_package(geometric_shapes REQUIRED) find_package(interactive_markers REQUIRED) @@ -38,13 +45,6 @@ find_package(rviz_ogre_vendor REQUIRED) include(ConfigExtras.cmake) # Qt Stuff -find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets) -set(QT_LIBRARIES Qt5::Widgets) -# Delegate to QT5 macro -macro(QT_WRAP_UI) - qt5_wrap_ui(${ARGN}) -endmacro() - set(CMAKE_INCLUDE_CURRENT_DIR ON) set(CMAKE_AUTOMOC ON) set(CMAKE_AUTORCC ON) diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt index 711211c89f..4e7e916bfc 100644 --- a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt +++ b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt @@ -4,7 +4,7 @@ set(HEADERS include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.hpp include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.hpp include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp) -qt5_wrap_ui(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui +qt6_wrap_ui(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui src/ui/motion_planning_rviz_plugin_frame_joints.ui) include_directories(${CMAKE_CURRENT_BINARY_DIR}) @@ -38,7 +38,7 @@ ament_target_dependencies( moveit_ros_warehouse rviz2 rviz_ogre_vendor - Qt5 + Qt6 pluginlib) target_include_directories(moveit_motion_planning_rviz_plugin_core PRIVATE "${OGRE_PREFIX_DIR}/include") diff --git a/moveit_ros/visualization/package.xml b/moveit_ros/visualization/package.xml index e44e4c45d5..d273171db1 100644 --- a/moveit_ros/visualization/package.xml +++ b/moveit_ros/visualization/package.xml @@ -25,8 +25,7 @@ class_loader eigen - libqt5-opengl-dev - qtbase5-dev + qt6-base-dev geometric_shapes interactive_markers diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt index efe2dc41f4..16543a62d3 100644 --- a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt +++ b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt @@ -27,7 +27,7 @@ add_library(moveit_planning_scene_rviz_plugin SHARED src/plugin_init.cpp) set_target_properties(moveit_planning_scene_rviz_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") target_link_libraries(moveit_planning_scene_rviz_plugin - moveit_planning_scene_rviz_plugin_core Qt5::Widgets) + moveit_planning_scene_rviz_plugin_core Qt6::Widgets) ament_target_dependencies(moveit_planning_scene_rviz_plugin pluginlib rviz_ogre_vendor) target_include_directories(moveit_planning_scene_rviz_plugin diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt index 2a8c81a4dd..20dc2cfae2 100644 --- a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt +++ b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt @@ -24,7 +24,7 @@ add_library( set_target_properties(moveit_rviz_plugin_render_tools PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") -target_link_libraries(moveit_rviz_plugin_render_tools Qt5::Widgets) +target_link_libraries(moveit_rviz_plugin_render_tools Qt6::Widgets) ament_target_dependencies( moveit_rviz_plugin_render_tools From 8769eca577585cd44f7d8dccc15659f3b9071dc3 Mon Sep 17 00:00:00 2001 From: Nathan Brooks Date: Sun, 15 Mar 2026 11:20:51 -0600 Subject: [PATCH 4/5] Migrate instances of ament_index_cpp::get_package_share_directory**) and ament_index_cpp::get_package_share_directory(*, *) to ament_index_cpp::get_package_share_path(package_name) addressing https://github.com/ament/ament_index/pull/112 Revert QT support changes which will be addressed in a separate PR Temporarily add '-Wno-error=deprecated-declarations' to suppress other upstream deprecatios from short circuiting CI --- .github/workflows/ci.yaml | 2 +- .../utils/src/robot_model_test_utils.cpp | 19 ++++++------------- .../planning/rdf_loader/src/rdf_loader.cpp | 4 ++-- moveit_ros/visualization/CMakeLists.txt | 14 +++++++------- .../CMakeLists.txt | 4 ++-- moveit_ros/visualization/package.xml | 3 ++- .../planning_scene_rviz_plugin/CMakeLists.txt | 2 +- .../rviz_plugin_render_tools/CMakeLists.txt | 2 +- .../moveit_setup_framework/utilities.hpp | 6 ++---- 9 files changed, 24 insertions(+), 32 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 3db7ac94d6..fead192996 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -51,7 +51,7 @@ jobs: -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}} - -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer' || ''}}" + -DCMAKE_CXX_FLAGS="-Werror -Wno-error=deprecated-declarations $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer' || ''}}" UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''" DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra" CCACHE_DIR: ${{ github.workspace }}/.ccache diff --git a/moveit_core/utils/src/robot_model_test_utils.cpp b/moveit_core/utils/src/robot_model_test_utils.cpp index 7677856aa7..14ce04b9a3 100644 --- a/moveit_core/utils/src/robot_model_test_utils.cpp +++ b/moveit_core/utils/src/robot_model_test_utils.cpp @@ -34,7 +34,7 @@ /* Author: Bryce Willey */ -#include +#include #include #include #include @@ -64,12 +64,8 @@ moveit::core::RobotModelPtr loadTestingRobotModel(const std::string& package_nam const std::string& urdf_relative_path, const std::string& srdf_relative_path) { - std::filesystem::path urdf_path; - ament_index_cpp::get_package_share_directory(package_name, urdf_path); - urdf_path /= urdf_relative_path; - std::filesystem::path srdf_path; - ament_index_cpp::get_package_share_directory(package_name, srdf_path); - srdf_path /= srdf_relative_path; + const auto urdf_path = ament_index_cpp::get_package_share_path(package_name) / urdf_relative_path; + const auto srdf_path = ament_index_cpp::get_package_share_path(package_name) / srdf_relative_path; urdf::ModelInterfaceSharedPtr urdf_model = urdf::parseURDFFile(urdf_path.string()); if (urdf_model == nullptr) @@ -97,8 +93,7 @@ moveit::core::RobotModelPtr loadTestingRobotModel(const std::string& robot_name) urdf::ModelInterfaceSharedPtr loadModelInterface(const std::string& robot_name) { const std::string package_name = "moveit_resources_" + robot_name + "_description"; - std::filesystem::path res_path; - ament_index_cpp::get_package_share_directory(package_name, res_path); + std::filesystem::path res_path = ament_index_cpp::get_package_share_path(package_name); std::string urdf_path; if (robot_name == "pr2") { @@ -126,15 +121,13 @@ srdf::ModelSharedPtr loadSRDFModel(const std::string& robot_name) if (robot_name == "pr2") { const std::string package_name = "moveit_resources_" + robot_name + "_description"; - std::filesystem::path res_path; - ament_index_cpp::get_package_share_directory(package_name, res_path); + std::filesystem::path res_path = ament_index_cpp::get_package_share_path(package_name); srdf_path = (res_path / "srdf/robot.xml").string(); } else { const std::string package_name = "moveit_resources_" + robot_name + "_moveit_config"; - std::filesystem::path res_path; - ament_index_cpp::get_package_share_directory(package_name, res_path); + std::filesystem::path res_path = ament_index_cpp::get_package_share_path(package_name); srdf_path = (res_path / "config" / (robot_name + ".srdf")).string(); } srdf_model->initFile(*urdf_model, srdf_path); diff --git a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp index aa2d9cb9dd..0f5f2e26b1 100644 --- a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp +++ b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp @@ -38,7 +38,7 @@ #include #include #include -#include +#include #include #include @@ -220,7 +220,7 @@ bool RDFLoader::loadPkgFileToString(std::string& buffer, const std::string& pack std::filesystem::path path; try { - ament_index_cpp::get_package_share_directory(package_name, path); + path = ament_index_cpp::get_package_share_path(package_name); } catch (const ament_index_cpp::PackageNotFoundError& e) { diff --git a/moveit_ros/visualization/CMakeLists.txt b/moveit_ros/visualization/CMakeLists.txt index b7e67801b1..27855877a3 100644 --- a/moveit_ros/visualization/CMakeLists.txt +++ b/moveit_ros/visualization/CMakeLists.txt @@ -10,13 +10,6 @@ moveit_package() add_definitions(-DBOOST_MATH_DISABLE_FLOAT128) find_package(ament_cmake REQUIRED) - -find_package(Qt6 REQUIRED Core Widgets) -set(QT_LIBRARIES Qt6::Widgets) -macro(QT_WRAP_UI) - qt6_wrap_ui(${ARGN}) -endmacro() - find_package(class_loader REQUIRED) find_package(geometric_shapes REQUIRED) find_package(interactive_markers REQUIRED) @@ -45,6 +38,13 @@ find_package(rviz_ogre_vendor REQUIRED) include(ConfigExtras.cmake) # Qt Stuff +find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets) +set(QT_LIBRARIES Qt5::Widgets) +# Delegate to QT5 macro +macro(QT_WRAP_UI) + qt5_wrap_ui(${ARGN}) +endmacro() + set(CMAKE_INCLUDE_CURRENT_DIR ON) set(CMAKE_AUTOMOC ON) set(CMAKE_AUTORCC ON) diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt index 4e7e916bfc..711211c89f 100644 --- a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt +++ b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt @@ -4,7 +4,7 @@ set(HEADERS include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.hpp include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.hpp include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp) -qt6_wrap_ui(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui +qt5_wrap_ui(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui src/ui/motion_planning_rviz_plugin_frame_joints.ui) include_directories(${CMAKE_CURRENT_BINARY_DIR}) @@ -38,7 +38,7 @@ ament_target_dependencies( moveit_ros_warehouse rviz2 rviz_ogre_vendor - Qt6 + Qt5 pluginlib) target_include_directories(moveit_motion_planning_rviz_plugin_core PRIVATE "${OGRE_PREFIX_DIR}/include") diff --git a/moveit_ros/visualization/package.xml b/moveit_ros/visualization/package.xml index d273171db1..e44e4c45d5 100644 --- a/moveit_ros/visualization/package.xml +++ b/moveit_ros/visualization/package.xml @@ -25,7 +25,8 @@ class_loader eigen - qt6-base-dev + libqt5-opengl-dev + qtbase5-dev geometric_shapes interactive_markers diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt index 16543a62d3..efe2dc41f4 100644 --- a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt +++ b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt @@ -27,7 +27,7 @@ add_library(moveit_planning_scene_rviz_plugin SHARED src/plugin_init.cpp) set_target_properties(moveit_planning_scene_rviz_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") target_link_libraries(moveit_planning_scene_rviz_plugin - moveit_planning_scene_rviz_plugin_core Qt6::Widgets) + moveit_planning_scene_rviz_plugin_core Qt5::Widgets) ament_target_dependencies(moveit_planning_scene_rviz_plugin pluginlib rviz_ogre_vendor) target_include_directories(moveit_planning_scene_rviz_plugin diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt index 20dc2cfae2..2a8c81a4dd 100644 --- a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt +++ b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt @@ -24,7 +24,7 @@ add_library( set_target_properties(moveit_rviz_plugin_render_tools PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}") -target_link_libraries(moveit_rviz_plugin_render_tools Qt6::Widgets) +target_link_libraries(moveit_rviz_plugin_render_tools Qt5::Widgets) ament_target_dependencies( moveit_rviz_plugin_render_tools diff --git a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp index d8ab665df1..b7ba031fdb 100644 --- a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp +++ b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp @@ -37,7 +37,7 @@ #pragma once #include -#include +#include #include #include #include @@ -52,9 +52,7 @@ inline std::filesystem::path getSharePath(const std::string& package_name) { try { - std::filesystem::path path; - ament_index_cpp::get_package_share_directory(package_name, path); - return path; + return ament_index_cpp::get_package_share_path(package_name); } catch (const std::runtime_error& e) { From 818964094a91c6e55ad7900a7010cf58e9f9403e Mon Sep 17 00:00:00 2001 From: Nathan Brooks Date: Sun, 15 Mar 2026 11:51:58 -0600 Subject: [PATCH 5/5] For better and for worse, consolidate ros distro checking via RCLCPP_VERSION --- moveit_core/utils/src/robot_model_test_utils.cpp | 7 +++++++ moveit_ros/planning/rdf_loader/src/rdf_loader.cpp | 7 +++++++ .../include/moveit_setup_framework/utilities.hpp | 7 +++++++ 3 files changed, 21 insertions(+) diff --git a/moveit_core/utils/src/robot_model_test_utils.cpp b/moveit_core/utils/src/robot_model_test_utils.cpp index 14ce04b9a3..b9442d830e 100644 --- a/moveit_core/utils/src/robot_model_test_utils.cpp +++ b/moveit_core/utils/src/robot_model_test_utils.cpp @@ -34,7 +34,14 @@ /* Author: Bryce Willey */ +#include + +// For Rolling, L-turtle, and newer +#if RCLCPP_VERSION_GTE(30, 0, 0) #include +#else +#include +#endif #include #include #include diff --git a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp index 0f5f2e26b1..82fad4ac8e 100644 --- a/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp +++ b/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp @@ -34,11 +34,18 @@ /* Author: Ioan Sucan, Mathias Lüdtke, Dave Coleman */ +#include + // MoveIt #include #include #include +// For Rolling, L-turtle, and newer +#if RCLCPP_VERSION_GTE(30, 0, 0) #include +#else +#include +#endif #include #include diff --git a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp index b7ba031fdb..455d9a3ae6 100644 --- a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp +++ b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp @@ -36,8 +36,15 @@ #pragma once +#include + #include +// For Rolling, L-turtle, and newer +#if RCLCPP_VERSION_GTE(30, 0, 0) #include +#else +#include +#endif #include #include #include