Fix deprecations in image_common and tf2_ros (moveit#3567)

* Fix image_common NodeT deprecation warnings from ros-perception/image_common#352 - migrate to NodeInterfaces

* Fix image_common rmw_qos_profile_t deprecation warnings from ros-perception/image_common#364 - migrate to rclcpp::QoS

* Fix rviz update float deprecation warnings from ros2/rviz#1533 - migrate to std::chrono::duration

* Fix geometry2 tf2_ros .h deprecation warnings from ros2/geometry2#805 - migrate Kilted and Rolling to .hpp

* Fix geometry2 tf2_ros NodeT deprecation warnings from ros2/geometry2#714 - migrate to NodeInterfaces

* Fix rclcpp spin_some deprecation warnings from ros2/rclcpp#2848 - migrate to SingleThreadedExecutor

---------

Co-authored-by: Andrea <realeandrea@yahoo.it>

Author: 2 people

moveit_kinematics/test/test_kinematics_plugin.cpp

@@ -39,6 +39,7 @@
 #include <memory>
 #include <functional>
 #include <pluginlib/class_loader.hpp>
+#include <rclcpp/executors/single_threaded_executor.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 
@@ -403,7 +404,9 @@ TEST_F(KinematicsTest, randomWalkIK)
     auto pub = node_->create_publisher<moveit_msgs::msg::DisplayTrajectory>("display_random_walk", 1);
     traj.getRobotTrajectoryMsg(msg.trajectory[0]);
     pub->publish(msg);
-    rclcpp::spin_some(node_);
+    rclcpp::executors::SingleThreadedExecutor executor;
+    executor.add_node(node_);
+    executor.spin_some();
   }
 }
 

moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/local_planner_component.hpp

@@ -40,6 +40,7 @@
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp/version.h>
 #include <rclcpp_action/rclcpp_action.hpp>
 
 #include <pluginlib/class_loader.hpp>
@@ -58,8 +59,15 @@
 #include <moveit/local_planner/local_constraint_solver_interface.hpp>
 #include <moveit/local_planner/trajectory_operator_interface.hpp>
 
+// For Rolling, Kilted, and newer
+#if RCLCPP_VERSION_GTE(29, 6, 0)
+#include <tf2_ros/buffer.hpp>
+#include <tf2_ros/transform_listener.hpp>
+// For Jazzy and older
+#else
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
+#endif
 
 // Forward declaration of parameter class allows users to implement custom parameters
 namespace local_planner_parameters

moveit_ros/hybrid_planning/test/test_basic_integration.cpp

@@ -41,8 +41,16 @@
 #include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
 #include <moveit/robot_state/conversions.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp/version.h>
 #include <rclcpp_action/rclcpp_action.hpp>
+
+// For Rolling, Kilted, and newer
+#if RCLCPP_VERSION_GTE(29, 6, 0)
 #include <tf2_ros/buffer.hpp>
+// For Jazzy and older
+#else
+#include <tf2_ros/buffer.h>
+#endif
 
 #include <moveit_msgs/action/hybrid_planner.hpp>
 #include <moveit_msgs/msg/display_robot_state.hpp>

moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp

@@ -35,10 +35,19 @@
 /* Author: Jonas Tietz */
 
 #include "tf_publisher_capability.hpp"
+
+#include <rclcpp/version.h>
+
 #include <moveit/moveit_cpp/moveit_cpp.hpp>
 #include <moveit/utils/message_checks.hpp>
 #include <moveit/move_group/capability_names.hpp>
+// For Rolling, Kilted, and newer
+#if RCLCPP_VERSION_GTE(29, 6, 0)
+#include <tf2_ros/transform_broadcaster.hpp>
+// For Jazzy and older
+#else
 #include <tf2_ros/transform_broadcaster.h>
+#endif
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <moveit/robot_state/robot_state.hpp>
 #include <moveit/robot_state/attached_body.hpp>
@@ -76,7 +85,14 @@ void publishSubframes(tf2_ros::TransformBroadcaster& broadcaster, const moveit::
 
 void TfPublisher::publishPlanningSceneFrames()
 {
+// For Rolling, L-turtle, and newer
+#if RCLCPP_VERSION_GTE(30, 0, 0)
+  tf2_ros::TransformBroadcaster broadcaster(tf2_ros::TransformBroadcaster::RequiredInterfaces{
+      context_->moveit_cpp_->getNode()->get_node_parameters_interface(),
+      context_->moveit_cpp_->getNode()->get_node_topics_interface() });
+#else
   tf2_ros::TransformBroadcaster broadcaster(context_->moveit_cpp_->getNode());
+#endif
   geometry_msgs::msg::TransformStamped transform;
   rclcpp::Rate rate(rate_);
 

moveit_ros/move_group/src/move_group.cpp

@@ -34,9 +34,19 @@
 
 /* Author: Ioan Sucan */
 
+#include <rclcpp/version.h>
+
 #include <moveit/moveit_cpp/moveit_cpp.hpp>
 #include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
+// For Rolling, L-turtle, and newer
+
+// For Rolling, Kilted, and newer
+#if RCLCPP_VERSION_GTE(29, 6, 0)
+#include <tf2_ros/transform_listener.hpp>
+// For Jazzy and older
+#else
 #include <tf2_ros/transform_listener.h>
+#endif
 #include <moveit/move_group/move_group_capability.hpp>
 #include <moveit/trajectory_execution_manager/trajectory_execution_manager.hpp>
 #include <boost/tokenizer.hpp>

moveit_ros/moveit_servo/demos/cpp_interface/demo_pose.cpp

@@ -44,8 +44,15 @@
 #include <moveit_servo/utils/common.hpp>
 #include <mutex>
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp/version.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+// For Rolling, Kilted, and newer
+#if RCLCPP_VERSION_GTE(29, 6, 0)
+#include <tf2_ros/transform_listener.hpp>
+// For Jazzy and older
+#else
 #include <tf2_ros/transform_listener.h>
+#endif
 #include <moveit/utils/logger.hpp>
 
 using namespace moveit_servo;

moveit_ros/moveit_servo/demos/cpp_interface/demo_twist.cpp

@@ -43,8 +43,15 @@
 #include <moveit_servo/servo.hpp>
 #include <moveit_servo/utils/common.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp/version.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+// For Rolling, Kilted, and newer
+#if RCLCPP_VERSION_GTE(29, 6, 0)
+#include <tf2_ros/transform_listener.hpp>
+// For Jazzy and older
+#else
 #include <tf2_ros/transform_listener.h>
+#endif
 #include <moveit/utils/logger.hpp>
 
 using namespace moveit_servo;

moveit_ros/moveit_servo/demos/servo_keyboard_input.cpp

@@ -42,6 +42,7 @@
 #include <control_msgs/msg/joint_jog.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <moveit_msgs/srv/servo_command_type.hpp>
+#include <rclcpp/executors/single_threaded_executor.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <signal.h>
 #include <stdio.h>
@@ -188,9 +189,11 @@ int main(int argc, char** argv)
 
 void KeyboardServo::spin()
 {
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(nh_);
   while (rclcpp::ok())
   {
-    rclcpp::spin_some(nh_);
+    executor.spin_some();
   }
 }
 

moveit_ros/moveit_servo/include/moveit_servo/servo.hpp

@@ -41,6 +41,9 @@
 
 #pragma once
 
+#include <rclcpp/logger.hpp>
+#include <rclcpp/version.h>
+
 #include <moveit_servo/collision_monitor.hpp>
 #include <moveit_servo/moveit_servo_lib_parameters.hpp>
 #include <moveit_servo/utils/command.hpp>
@@ -51,9 +54,14 @@
 #include <pluginlib/class_loader.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
+// For Rolling, Kilted, and newer
+#if RCLCPP_VERSION_GTE(29, 6, 0)
+#include <tf2_ros/transform_listener.hpp>
+// For Jazzy and older
+#else
 #include <tf2_ros/transform_listener.h>
+#endif
 #include <variant>
-#include <rclcpp/logger.hpp>
 #include <queue>
 
 namespace moveit_servo

moveit_ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.hpp

@@ -42,7 +42,14 @@
 #include <moveit_msgs/srv/save_map.hpp>
 
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp/version.h>
+// For Rolling, Kilted, and newer
+#if RCLCPP_VERSION_GTE(29, 6, 0)
+#include <tf2_ros/buffer.hpp>
+// For Jazzy and older
+#else
 #include <tf2_ros/buffer.h>
+#endif
 
 #include <functional>
 #include <memory>