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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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5 changes: 4 additions & 1 deletion moveit_kinematics/test/test_kinematics_plugin.cpp
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Expand Up @@ -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>

Expand Down Expand Up @@ -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();
}
}

Expand Down
8 changes: 8 additions & 0 deletions ..._planner/local_planner_component/include/moveit/local_planner/local_planner_component.hpp
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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
Expand Down
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>
Expand Down
16 changes: 16 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>
Expand Down Expand Up @@ -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_);

Expand Down
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>
Expand Down
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;
Expand Down
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;
Expand Down
5 changes: 4 additions & 1 deletion moveit_ros/moveit_servo/demos/servo_keyboard_input.cpp
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Expand Up @@ -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>
Expand Down Expand Up @@ -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();
}
}

Expand Down
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
Expand Down
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>
Expand Down
18 changes: 18 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>
Expand Down Expand Up @@ -99,7 +107,17 @@ int main(int argc, char** argv)
node->create_publisher<octomap_msgs::msg::Octomap>("octomap_binary", RMW_QOS_POLICY_HISTORY_KEEP_LAST);
auto clock_ptr = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
std::shared_ptr<tf2_ros::Buffer> buffer = std::make_shared<tf2_ros::Buffer>(clock_ptr, tf2::durationFromSec(5.0));
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
tf2_ros::TransformListener listener(*buffer,
tf2_ros::TransformListener::RequiredInterfaces{
node->get_node_base_interface(), node->get_node_logging_interface(),
node->get_node_parameters_interface(), node->get_node_topics_interface() },
false // spin_thread
);
#else
tf2_ros::TransformListener listener(*buffer, node, false /* spin_thread - disables executor */);
#endif
occupancy_map_monitor::OccupancyMapMonitor server(node, buffer);
server.setUpdateCallback(
[&octree_binary_pub, &server, logger = node->get_logger()] { return publishOctomap(octree_binary_pub, server); });
Expand Down
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>
Expand Down
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>
Expand Down
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
18 changes: 18 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 Expand Up @@ -151,8 +158,19 @@ void PointCloudOctomapUpdater::start()
new message_filters::Subscriber<sensor_msgs::msg::PointCloud2>(node_, point_cloud_topic_, qos_profile, options);
if (tf_listener_ && tf_buffer_ && !monitor_->getMapFrame().empty())
{
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
using MessageFilterPointCloud2 = tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>;

MessageFilterPointCloud2::RequiredInterfaces required_interfaces{ node_->get_node_logging_interface(),
node_->get_node_clock_interface() };

point_cloud_filter_ = new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>(
*point_cloud_subscriber_, *tf_buffer_, monitor_->getMapFrame(), 5, std::move(required_interfaces));
#else
point_cloud_filter_ = new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>(
*point_cloud_subscriber_, *tf_buffer_, monitor_->getMapFrame(), 5, node_);
#endif
point_cloud_filter_->registerCallback(
[this](const sensor_msgs::msg::PointCloud2::ConstSharedPtr& cloud) { cloudMsgCallback(cloud); });
RCLCPP_INFO(logger_, "Listening to '%s' using message filter with target frame '%s'", point_cloud_topic_.c_str(),
Expand Down
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