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Merged
nbbrooks merged 10 commits into from
Oct 12, 2025
Merged

Fix deprecations in image_common and tf2_ros #3567

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0df4def
Fix compile warning (tf2*.h is deprecated)
mosfet80 Aug 22, 2025
ab27536
Update tf2_ros includes to hpp for Rolling
nbbrooks Sep 8, 2025
31be25b
Update image_common use to new lifecycle node and QOS API
nbbrooks Sep 8, 2025
bc69ae2
Update moveit_ros_visualization to use rviz update std::chrono::nanos…
nbbrooks Sep 8, 2025
a2789a4
Adjust preprecessor includes to account for backport of tf2_ros hpp f…
nbbrooks Sep 12, 2025
2eeff3a
Test use of to simplify float -> chrono API redirect
nbbrooks Sep 12, 2025
61510af
Revert some changes which assumed update took in sec not ns
nbbrooks Sep 12, 2025
ab48a85
Fix fat finger
nbbrooks Sep 12, 2025
12c176b
Fix tf2_ros deprecation warnings by migrating from NodeT to NodeInter…
nbbrooks Oct 11, 2025
5e3086e
Fix rclcpp deprecation warnings by migrating from spin_some(rclcpp::n…
nbbrooks Oct 11, 2025
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8 changes: 8 additions & 0 deletions ..._planner/local_planner_component/include/moveit/local_planner/local_planner_component.hpp
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@mini-1235 mini-1235 Sep 9, 2025

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I think .hpp is also available in Kilted and older, do we need this?

@nbbrooks nbbrooks Sep 9, 2025

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Which .hpp file do you mean? the tf2_ros .hpp files? That change only went in July, so the "treat deprecations as errors" compile failures only need to be addressed in Rolling.

@mini-1235 mini-1235 Sep 10, 2025

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Yes, the tf2 ros hpp files, it is also backported and now available in Kilted and order, so I think it's fine for older distribution to use .hpp as well

@nbbrooks nbbrooks Sep 12, 2025

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Testing out using tf2_ros hpp includes in Kilted now.

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Expand Up @@ -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>
Expand All @@ -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
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8 changes: 8 additions & 0 deletions moveit_ros/hybrid_planning/test/test_basic_integration.cpp
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Expand Up @@ -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>
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9 changes: 9 additions & 0 deletions moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
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Expand Up @@ -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>
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10 changes: 10 additions & 0 deletions moveit_ros/move_group/src/move_group.cpp
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Expand Up @@ -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>
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7 changes: 7 additions & 0 deletions moveit_ros/moveit_servo/demos/cpp_interface/demo_pose.cpp
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Expand Up @@ -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;
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7 changes: 7 additions & 0 deletions moveit_ros/moveit_servo/demos/cpp_interface/demo_twist.cpp
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Expand Up @@ -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;
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10 changes: 9 additions & 1 deletion moveit_ros/moveit_servo/include/moveit_servo/servo.hpp
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Expand Up @@ -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>
Expand All @@ -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
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7 changes: 7 additions & 0 deletions ..._ros/occupancy_map_monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor.hpp
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Expand Up @@ -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>
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8 changes: 8 additions & 0 deletions moveit_ros/occupancy_map_monitor/src/occupancy_map_server.cpp
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Expand Up @@ -34,10 +34,18 @@

/* Author: Jon Binney, Ioan Sucan */

#include <rclcpp/version.h>

#include <moveit/occupancy_map_monitor/occupancy_map_monitor.hpp>

#include <octomap_msgs/conversions.h>
// 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 <rclcpp/clock.hpp>
#include <rclcpp/executors.hpp>
#include <rclcpp/experimental/buffers/intra_process_buffer.hpp>
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7 changes: 7 additions & 0 deletions moveit_ros/occupancy_map_monitor/test/occupancy_map_monitor_tests.cpp
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Expand Up @@ -38,7 +38,14 @@

#include <gmock/gmock.h>
#include <gtest/gtest.h>
#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 <memory>
#include <string>
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7 changes: 7 additions & 0 deletions ...ctomap_updater/include/moveit/depth_image_octomap_updater/depth_image_octomap_updater.hpp
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Expand Up @@ -37,7 +37,14 @@
#pragma once

#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 <moveit/occupancy_map_monitor/occupancy_map_updater.hpp>
#include <moveit/mesh_filter/mesh_filter.hpp>
#include <moveit/mesh_filter/stereo_camera_model.hpp>
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29 changes: 22 additions & 7 deletions moveit_ros/perception/depth_image_octomap_updater/src/depth_image_octomap_updater.cpp
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Expand Up @@ -37,6 +37,8 @@
#include <moveit/depth_image_octomap_updater/depth_image_octomap_updater.hpp>
#include <moveit/occupancy_map_monitor/occupancy_map_monitor.hpp>
#include <cmath>
#include <rclcpp/qos.hpp>
#include <rclcpp/version.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
// TODO: Remove conditional includes when released to all active distros.
#if __has_include(<tf2/LinearMath/Vector3.hpp>)
Expand Down Expand Up @@ -158,13 +160,26 @@ void DepthImageOctomapUpdater::start()

pub_filtered_label_image_ = filtered_label_transport_->advertiseCamera(prefix + "filtered_label", 1);

sub_depth_image_ = image_transport::create_camera_subscription(
node_.get(), image_topic_,
[this](const sensor_msgs::msg::Image::ConstSharedPtr& depth_msg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr& info_msg) {
return depthImageCallback(depth_msg, info_msg);
},
"raw", rmw_qos_profile_sensor_data);
sub_depth_image_ =
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
image_transport::create_camera_subscription(
*node_, image_topic_,
[this](const sensor_msgs::msg::Image::ConstSharedPtr& depth_msg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr& info_msg) {
return depthImageCallback(depth_msg, info_msg);
},
"raw", rclcpp::SensorDataQoS());
// For Kilted and older
#else
image_transport::create_camera_subscription(
node_.get(), image_topic_,
[this](const sensor_msgs::msg::Image::ConstSharedPtr& depth_msg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr& info_msg) {
return depthImageCallback(depth_msg, info_msg);
},
"raw", rmw_qos_profile_sensor_data);
#endif
}

void DepthImageOctomapUpdater::stop()
Expand Down
10 changes: 9 additions & 1 deletion moveit_ros/perception/mesh_filter/src/transform_provider.cpp
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Expand Up @@ -35,8 +35,16 @@
/* Author: Suat Gedikli */

#include <moveit/mesh_filter/transform_provider.hpp>
#include <tf2_ros/transform_listener.h>
#include <rclcpp/version.h>
// 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
#include <tf2_eigen/tf2_eigen.hpp>

TransformProvider::TransformProvider(double update_rate) : stop_(true), update_rate_(update_rate)
Expand Down
9 changes: 8 additions & 1 deletion ..._octomap_updater/include/moveit/pointcloud_octomap_updater/pointcloud_octomap_updater.hpp
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Expand Up @@ -39,8 +39,15 @@
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/callback_group.hpp>
#include <rclcpp/version.h>
#include <tf2_ros/transform_listener.h>
// For Rolling, Kilted, and newer
#if RCLCPP_VERSION_GTE(29, 6, 0)
#include <tf2_ros/message_filter.hpp>
#include <tf2_ros/transform_listener.hpp>
// For Jazzy and older
#else
#include <tf2_ros/message_filter.h>
#include <tf2_ros/transform_listener.h>
#endif
#if RCLCPP_VERSION_GTE(28, 3, 3) // Rolling
#include <message_filters/subscriber.hpp>
#else
Expand Down
7 changes: 7 additions & 0 deletions moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
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Expand Up @@ -50,8 +50,15 @@
#include <tf2/LinearMath/Transform.h>
#endif
#include <sensor_msgs/point_cloud2_iterator.hpp>
// For Rolling, Kilted, and newer
#if RCLCPP_VERSION_GTE(29, 6, 0)
#include <tf2_ros/create_timer_interface.hpp>
#include <tf2_ros/create_timer_Ros.hpp>
// For Jazzy and older
#else
#include <tf2_ros/create_timer_interface.h>
#include <tf2_ros/create_timer_ros.h>
#endif
#include <moveit/utils/logger.hpp>
#include <rclcpp/version.h>

Expand Down
7 changes: 7 additions & 0 deletions moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.hpp
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Expand Up @@ -40,12 +40,19 @@
#pragma once

#include <rclcpp/rclcpp.hpp>
#include <rclcpp/version.h>
#include <moveit/controller_manager/controller_manager.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
#include <moveit/planning_pipeline/planning_pipeline.hpp>
#include <moveit/trajectory_execution_manager/trajectory_execution_manager.hpp>
#include <moveit/robot_state/robot_state.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

namespace moveit_cpp
{
Expand Down
7 changes: 7 additions & 0 deletions ...ng/planning_scene_monitor/include/moveit/planning_scene_monitor/current_state_monitor.hpp
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Expand Up @@ -45,10 +45,17 @@
#include <boost/signals2.hpp>

#include <rclcpp/rclcpp.hpp>
#include <rclcpp/version.h>
#include <sensor_msgs/msg/joint_state.hpp>
#include <tf2_msgs/msg/tf_message.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/robot_state/robot_state.hpp>

Expand Down
8 changes: 8 additions & 0 deletions ...g/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp
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Expand Up @@ -37,8 +37,16 @@
#pragma once

#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>
#include <tf2_ros/transform_listener.hpp>
// For Jazzy and older
#else
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#endif
#include <moveit/macros/class_forward.hpp>
#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/robot_model_loader/robot_model_loader.hpp>
Expand Down
1 change: 0 additions & 1 deletion moveit_ros/planning/planning_scene_monitor/src/current_state_monitor_middleware_handle.cpp
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Expand Up @@ -50,7 +50,6 @@
#include <rclcpp/utilities.hpp>
#include <chrono>
#include <string>
#include <tf2_ros/qos.hpp>

#include <moveit/planning_scene_monitor/current_state_monitor_middleware_handle.hpp>

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7 changes: 7 additions & 0 deletions moveit_ros/planning/planning_scene_monitor/test/current_state_monitor_tests.cpp
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Expand Up @@ -43,7 +43,14 @@
#include <moveit/planning_scene_monitor/current_state_monitor.hpp>
#include <moveit/utils/robot_model_test_utils.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

struct MockMiddlewareHandle : public planning_scene_monitor::CurrentStateMonitor::MiddlewareHandle
{
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7 changes: 7 additions & 0 deletions moveit_ros/planning/planning_scene_monitor/test/trajectory_monitor_tests.cpp
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Expand Up @@ -44,7 +44,14 @@
#include <moveit/planning_scene_monitor/current_state_monitor.hpp>
#include <moveit/utils/robot_model_test_utils.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

using namespace std::chrono_literals;

Expand Down
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