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DUPLICATE Update deprecated usage of get_package_share #3705

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DUPLICATE Update deprecated usage of get_package_share #3705

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788ee64
Update deprecated usage of get_package_share
Mar 13, 2026
e59b3f8
Fix more get_package_shares
Mar 13, 2026
f0b9544
Update to Qt6 and hope
Mar 13, 2026
8769eca
Migrate instances of ament_index_cpp::get_package_share_directory**) …
nbbrooks Mar 15, 2026
8189640
For better and for worse, consolidate ros distro checking via RCLCPP_…
nbbrooks Mar 15, 2026
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2 changes: 1 addition & 1 deletion .github/workflows/ci.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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19 changes: 12 additions & 7 deletions moveit_core/utils/src/robot_model_test_utils.cpp
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Expand Up @@ -34,7 +34,14 @@

/* Author: Bryce Willey */

#include <rclcpp/version.h>

// For Rolling, L-turtle, and newer
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@Timple Timple Mar 15, 2026

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I believe this is backported

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@Timple Timple Mar 15, 2026

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I stand corrected... It's not.

#if RCLCPP_VERSION_GTE(30, 0, 0)
#include <ament_index_cpp/get_package_share_path.hpp>
#else
#include <ament_index_cpp/get_package_share_directory.hpp>
#endif
#include <boost/algorithm/string_regex.hpp>
#include <filesystem>
#include <geometry_msgs/msg/pose.hpp>
Expand Down Expand Up @@ -64,10 +71,8 @@ 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;
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)
Expand Down Expand Up @@ -95,7 +100,7 @@ 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));
std::filesystem::path res_path = ament_index_cpp::get_package_share_path(package_name);
std::string urdf_path;
if (robot_name == "pr2")
{
Expand Down Expand Up @@ -123,13 +128,13 @@ 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));
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));
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);
Expand Down
12 changes: 9 additions & 3 deletions moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
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Expand Up @@ -34,11 +34,18 @@

/* Author: Ioan Sucan, Mathias Lüdtke, Dave Coleman */

#include <rclcpp/version.h>

// MoveIt
#include <moveit/rdf_loader/rdf_loader.hpp>
#include <std_msgs/msg/string.hpp>
#include <ament_index_cpp/get_package_prefix.hpp>
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
#include <ament_index_cpp/get_package_share_path.hpp>
#else
#include <ament_index_cpp/get_package_share_directory.hpp>
#endif
#include <moveit/utils/logger.hpp>

#include <rclcpp/duration.hpp>
Expand Down Expand Up @@ -217,18 +224,17 @@ 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<std::string>& xacro_args)
{
std::string package_path;
std::filesystem::path path;
try
{
package_path = ament_index_cpp::get_package_share_directory(package_name);
path = ament_index_cpp::get_package_share_path(package_name);
}
catch (const ament_index_cpp::PackageNotFoundError& e)
{
RCLCPP_ERROR(getLogger(), "ament_index_cpp: %s", e.what());
return false;
}

std::filesystem::path path(package_path);
path = path / relative_path;

return loadXmlFileToString(buffer, path.string(), xacro_args);
Expand Down
9 changes: 8 additions & 1 deletion moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp
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Expand Up @@ -36,8 +36,15 @@

#pragma once

#include <rclcpp/version.h>

#include <ament_index_cpp/get_package_prefix.hpp>
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
#include <ament_index_cpp/get_package_share_path.hpp>
#else
#include <ament_index_cpp/get_package_share_directory.hpp>
#endif
#include <filesystem>
#include <string>
#include <tinyxml2.h>
Expand All @@ -52,7 +59,7 @@ inline std::filesystem::path getSharePath(const std::string& package_name)
{
try
{
return std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name));
return ament_index_cpp::get_package_share_path(package_name);
}
catch (const std::runtime_error& e)
{
Expand Down
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