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Deprecated rmw_qos_profile_t and ament_target_dependencies #119

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7a6ab5e
Deprecated ament_target_dependencies
elsayedelsheikh Oct 1, 2025
f1fad00
Deprecate rmw_qos_profile_t
elsayedelsheikh Oct 1, 2025
484e648
Keep rmw_qos_profile_t for humble
elsayedelsheikh Oct 1, 2025
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11 changes: 8 additions & 3 deletions behaviortree_ros2/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -29,13 +29,18 @@ add_library(${PROJECT_NAME}
src/bt_utils.cpp
src/tree_execution_server.cpp )

ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_DEPS})

target_include_directories(${PROJECT_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)

target_link_libraries(${PROJECT_NAME} bt_executor_parameters)
target_link_libraries(${PROJECT_NAME} PUBLIC
rclcpp::rclcpp
rclcpp_action::rclcpp_action
ament_index_cpp::ament_index_cpp
behaviortree_cpp::behaviortree_cpp
${btcpp_ros2_interfaces_TARGETS}
bt_executor_parameters
)


######################################################
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8 changes: 8 additions & 0 deletions behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,8 @@
#include <string>
#include <rclcpp/executors.hpp>
#include <rclcpp/allocator/allocator_common.hpp>
#include <rclcpp/version.h>
#include <rclcpp/qos.hpp>
#include "behaviortree_cpp/bt_factory.h"

#include "behaviortree_ros2/ros_node_params.hpp"
Expand Down Expand Up @@ -216,8 +218,14 @@ inline RosServiceNode<T>::ServiceClientInstance::ServiceClientInstance(
node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
callback_executor.add_callback_group(callback_group, node->get_node_base_interface());

// For Jazzy and Later Support
#if RCLCPP_VERSION_GTE(28, 0, 0)
service_client = node->create_client<T>(service_name, rclcpp::ServicesQoS(),
callback_group);
#else
service_client = node->create_client<T>(service_name, rmw_qos_profile_services_default,
callback_group);
#endif
}

template <class T>
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24 changes: 12 additions & 12 deletions btcpp_ros2_samples/CMakeLists.txt
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Expand Up @@ -12,53 +12,53 @@ find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)

set(THIS_PACKAGE_DEPS
behaviortree_ros2
std_msgs
std_srvs
btcpp_ros2_interfaces )
behaviortree_ros2::behaviortree_ros2
${std_msgs_TARGETS}
${std_srvs_TARGETS}
${btcpp_ros2_interfaces_TARGETS} )

######################################################
# Simple example showing how to use and customize the BtExecutionServer
add_executable(sample_bt_executor src/sample_bt_executor.cpp)
ament_target_dependencies(sample_bt_executor ${THIS_PACKAGE_DEPS})
target_link_libraries(sample_bt_executor ${THIS_PACKAGE_DEPS})

######################################################
# Build an Action Client that calls the sleep action (STATIC version)

add_executable(sleep_client
src/sleep_action.cpp
src/sleep_client.cpp)
ament_target_dependencies(sleep_client ${THIS_PACKAGE_DEPS})
target_link_libraries(sleep_client ${THIS_PACKAGE_DEPS})

######################################################
# Build a client that call the sleep action (Plugin version)

add_library(sleep_plugin SHARED src/sleep_action.cpp)
target_compile_definitions(sleep_plugin PRIVATE BT_PLUGIN_EXPORT )
ament_target_dependencies(sleep_plugin ${THIS_PACKAGE_DEPS})
target_link_libraries(sleep_plugin ${THIS_PACKAGE_DEPS})

add_executable(sleep_client_dyn src/sleep_client.cpp)
target_compile_definitions(sleep_client_dyn PRIVATE USE_SLEEP_PLUGIN )
target_link_libraries(sleep_client_dyn sleep_plugin )
ament_target_dependencies(sleep_client_dyn ${THIS_PACKAGE_DEPS})
target_link_libraries(sleep_client_dyn ${THIS_PACKAGE_DEPS})

######################################################
# Build Server
add_executable(sleep_server src/sleep_server.cpp)
ament_target_dependencies(sleep_server ${THIS_PACKAGE_DEPS})
target_link_libraries(sleep_server ${THIS_PACKAGE_DEPS})

######################################################
# Build subscriber_test
add_executable(subscriber_test src/subscriber_test.cpp)
ament_target_dependencies(subscriber_test ${THIS_PACKAGE_DEPS})
target_link_libraries(subscriber_test ${THIS_PACKAGE_DEPS})

######################################################
# the SetBool test
add_executable(bool_client src/bool_client.cpp src/set_bool_node.cpp)
ament_target_dependencies(bool_client ${THIS_PACKAGE_DEPS})
target_link_libraries(bool_client ${THIS_PACKAGE_DEPS})

add_executable(bool_server src/bool_server.cpp )
ament_target_dependencies(bool_server ${THIS_PACKAGE_DEPS})
target_link_libraries(bool_server ${THIS_PACKAGE_DEPS})

######################################################
# INSTALL
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