Skip to content

feat: Switch to c++20 and remove resulting compile warnings #3124

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
skyegalaxy merged 1 commit into from
Apr 17, 2026
+20 −20
Merged

feat: Switch to c++20 and remove resulting compile warnings #3124

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 4 additions & 7 deletions rclcpp/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ project(rclcpp)
find_package(Threads REQUIRED)

find_package(ament_cmake_ros REQUIRED)
find_package(ament_cmake_ros_core REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(libstatistics_collector REQUIRED)
Expand All @@ -24,12 +25,6 @@ find_package(rosidl_typesupport_cpp REQUIRED)
find_package(statistics_msgs REQUIRED)
find_package(tracetools REQUIRED)

# TODO(wjwwood): remove this when gtest can build on its own, when using target_compile_features()
# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
# About -Wno-sign-conversion: With Clang, -Wconversion implies -Wsign-conversion. There are a number of
# implicit sign conversions in rclcpp and gtest.cc, see https://ci.ros2.org/job/ci_osx/9265/.
Expand Down Expand Up @@ -193,7 +188,6 @@ foreach(interface_file ${interface_files})
endforeach()

add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})
target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
# TODO(wjwwood): address all deprecation warnings and then remove this
if(WIN32)
target_compile_definitions(${PROJECT_NAME} PUBLIC "_SILENCE_ALL_CXX17_DEPRECATION_WARNINGS")
Expand All @@ -219,6 +213,9 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
statistics_msgs::statistics_msgs
tracetools::tracetools
${CMAKE_THREAD_LIBS_INIT}
# Note we link public on purpose, as we want to export
# the used C++ version as minimum to all consuming packages
ament_cmake_ros_core::ament_ros_defaults
)

target_link_libraries(${PROJECT_NAME} PRIVATE
Expand Down
1 change: 1 addition & 0 deletions rclcpp/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
<buildtool_depend>python3-empy</buildtool_depend>

<build_depend>ament_index_cpp</build_depend>
<build_depend>ament_index_cpp_core</build_depend>
Copy link
Copy Markdown
Contributor

@mini-1235 mini-1235 Apr 18, 2026 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I am seeing:

/usr/bin/rosdep:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
  from pkg_resources import load_entry_point
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
rclcpp: Cannot locate rosdep definition for [ament_index_cpp_core]

after this PR, I think this should be ament_cmake_ros_core right?

I created a PR here: #3133

<build_depend>builtin_interfaces</build_depend>
<build_depend>rcl_interfaces</build_depend>
<build_depend>rosgraph_msgs</build_depend>
Expand Down
26 changes: 14 additions & 12 deletions rclcpp/src/rclcpp/parameter_event_handler.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,7 @@ ParameterEventHandler::configure_nodes_filter(const std::vector<std::string> & n

if (node_names.empty()) {
// Clear content filter
event_subscription_->set_content_filter("");
event_subscription_->set_content_filter(std::string());
if (event_subscription_->is_cft_enabled()) {
return false;
}
Expand All @@ -101,8 +101,9 @@ ParameterEventHandler::configure_nodes_filter(const std::vector<std::string> & n

// Enclose each node name in "'".
std::vector<std::string> quoted_node_names;
const std::string delim("'");
for (const auto & name : node_names) {
quoted_node_names.push_back("'" + resolve_path(name) + "'");
quoted_node_names.push_back(delim + resolve_path(name) + delim);
}

event_subscription_->set_content_filter(filter_expression, quoted_node_names);
Expand Down Expand Up @@ -229,20 +230,21 @@ ParameterEventHandler::Callbacks::event_callback(const rcl_interfaces::msg::Para
std::string
ParameterEventHandler::resolve_path(const std::string & path)
{
std::string full_path;
if (path.empty()) {
return node_base_->get_fully_qualified_name();
}

if (path == "") {
full_path = node_base_->get_fully_qualified_name();
} else {
full_path = path;
if (*path.begin() != '/') {
auto ns = node_base_->get_namespace();
const std::vector<std::string> paths{ns, path};
full_path = (ns == std::string("/")) ? ns + path : rcpputils::join(paths, "/");
if (*path.begin() != '/') {
auto ns = node_base_->get_namespace();
const std::vector<std::string> paths{ns, path};
if(ns == std::string("/")) {
return ns + path;
}

return rcpputils::join(paths, "/");
}

return full_path;
return path;
}

} // namespace rclcpp
2 changes: 1 addition & 1 deletion rclcpp/test/rclcpp/executors/test_executors.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -650,7 +650,7 @@ TYPED_TEST(TestExecutors, testRaceConditionAddNode)
if (should_cancel) {
break;
}
total += k * (i + 42);
total = total + k * (i + 42);
(void)total;
}
});
Expand Down