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Updated deprecated ament_index_cpp API #3011

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Updated deprecated ament_index_cpp API #3011

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1bf1157
Updated deprecated ament_index_cpp API
ahcorde Dec 18, 2025
402fcbf
updated API
ahcorde Dec 19, 2025
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16 changes: 8 additions & 8 deletions rclcpp/src/rclcpp/typesupport_helpers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,27 +123,27 @@ std::string get_typesupport_library_path(
{
const char * dynamic_library_folder;
#ifdef _WIN32
dynamic_library_folder = "/bin/";
dynamic_library_folder = "bin";
#elif __APPLE__
dynamic_library_folder = "/lib/";
dynamic_library_folder = "lib";
#else
dynamic_library_folder = "/lib/";
dynamic_library_folder = "lib";
#endif

std::string package_prefix;
std::filesystem::path package_prefix;
try {
package_prefix = ament_index_cpp::get_package_prefix(package_name);
ament_index_cpp::get_package_prefix(package_name, package_prefix);
} catch (ament_index_cpp::PackageNotFoundError & e) {
throw std::runtime_error(e.what());
}

const std::string library_path = rcpputils::path_for_library(
package_prefix + dynamic_library_folder,
(package_prefix / dynamic_library_folder).string(),
package_name + "__" + typesupport_identifier);
if (library_path.empty()) {
throw std::runtime_error(
"Typesupport library for " + package_name + " does not exist in '" + package_prefix +
"'.");
"Typesupport library for " + package_name + " does not exist in '" +
package_prefix.string() + "'.");
}
return library_path;
}
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12 changes: 4 additions & 8 deletions rclcpp_components/src/component_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,17 +93,13 @@ std::vector<ComponentManager::ComponentResource>
ComponentManager::get_component_resources(
const std::string & package_name, const std::string & resource_index) const
{
std::string content;
std::string base_path;
if (
!ament_index_cpp::get_resource(
resource_index, package_name, content, &base_path))
{
auto result = ament_index_cpp::get_resource(resource_index, package_name);
if (result.resourcePath == std::nullopt) {
throw ComponentManagerException("Could not find requested resource in ament index");
}

std::vector<ComponentResource> resources;
std::vector<std::string> lines = rcpputils::split(content, '\n', true);
std::vector<std::string> lines = rcpputils::split(result.contents, '\n', true);
for (const auto & line : lines) {
std::vector<std::string> parts = rcpputils::split(line, ';');
if (parts.size() != 2) {
Expand All @@ -112,7 +108,7 @@ ComponentManager::get_component_resources(

std::filesystem::path library_path = parts[1];
if (!library_path.is_absolute()) {
library_path = (base_path / library_path);
library_path = (result.resourcePath.value() / library_path);
}
resources.push_back({parts[0], library_path.string()});
}
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