Fix deprecations in image_common and tf2_ros

[nbbrooks]

Description

This PR gets the required CI jobs passing again by addressing API changes from the following:

• Support lifecycle node - NodeInterfaces ros-perception/image_common#352
• Deprecated rmw_qos_profile_t in favour of rclcpp::QoS ros-perception/image_common#364
• Change tf2_ros C to C++ headers ros2/geometry2#805
• Deprecates update(float, float) methods and provides update(std::chrono::duration, std::chrono::duration) replacements. ros2/rviz#1533
• Adding NodeInterfaces API Design ros2/geometry2#714
• deprecate rclcpp::spin_some and rclcpp::spin_all ros2/rclcpp#2848

I check which header format / API to use by checking the rclcpp version, which is generated via rclcpp'ss invocation of the ament_generate_version_header CMake function. Other places in the MoveIt2 codebase where the include could be .h or .hpp (depending on the target distro), we decide which to use by checking if the hpp file can be found. I decided to just use RCLCPP_VERSION_GTE everywhere and make a note which newest distro uses the "old" API so we can delete those checks when that distro (for example, Kilted) goes EOL.

I am following the RCLCPP_VERSION_GTE versions used in the Nav2 project, which are pretty close to what I saw when inspecting the rclcpp package version at each distro branch date.

• rolling, l-turtle >= 30
• kilted >= 29.6
• jazzy >= 29
• humble (this ends up always being your elseif)

Caveats

• The (non-required) tutorial docker images job is still going to fail. I looked at it briefly and it related to Remove deprecated gripper_controller ros-controls/ros2_controllers#1652 - where parallel_gripper_controller replaced gripper_controllers
• There are still a ton of CMake deprecation warnings about ament_target_dependencies() in the Rolling job

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

❌ Patch coverage is 8.57143% with 64 lines in your changes missing coverage. Please review.
✅ Project coverage is 46.22%. Comparing base (4fc5c82) to head (5e3086e).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...g_scene_rviz_plugin/src/planning_scene_display.cpp	0.00%	10 Missing ⚠️
...anning_rviz_plugin/src/motion_planning_display.cpp	0.00%	9 Missing ⚠️
...obot_state_rviz_plugin/src/robot_state_display.cpp	0.00%	8 Missing ⚠️
...ctomap_updater/src/depth_image_octomap_updater.cpp	0.00%	6 Missing ⚠️
...ugin_render_tools/src/trajectory_visualization.cpp	0.00%	6 Missing ⚠️
...occupancy_map_monitor/src/occupancy_map_server.cpp	0.00%	5 Missing ⚠️
...octomap_updater/src/pointcloud_octomap_updater.cpp	0.00%	5 Missing ⚠️
moveit_kinematics/test/test_kinematics_plugin.cpp	0.00%	3 Missing ⚠️
...c/default_capabilities/tf_publisher_capability.cpp	0.00%	3 Missing ⚠️
...it_ros/moveit_servo/demos/servo_keyboard_input.cpp	0.00%	3 Missing ⚠️
... and 2 more

Additional details and impacted files

@@            Coverage Diff             @@
##            main    #3567       +/-   ##
==========================================
+ Coverage   0.00%   46.22%   +46.22%     
==========================================
  Files        180      720      +540     
  Lines      22601    62743    +40142     
  Branches    3099     7594     +4495     
==========================================
+ Hits           0    28995    +28995     
- Misses     22601    33582    +10981     
- Partials       0      166      +166     

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[nbbrooks]

Still remaining deprecation warning treated as error failures related to #3528

[nbbrooks]

This is building successfully locally now with colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-Werror=deprecated-declarations"

I have not tested that Rviz functionality is preserved with this change - I am a little concerned about any 0.1f values getting truncated to 0s in the new Rviz API per my comment here, but am not sure what the actual effect would be.

[nbbrooks]

I should just have this call PlanningSceneDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) rather than duplicate the implementation.

[riv-mjohnson]

My idea when implementing ros2/rviz#1533 was that the update(float, float) methods could be removed in favour of the update(std::chrono... methods.

If the update(float, float) overload is removed, then calling update(float, float) method will just call the base class version, which automatically calls the (overloaded) update(std::chrono... version.

[nbbrooks]

The reason I am keeping this overloaded PlanningSceneDisplay::update(float wall_dt, float ros_dt) method is due to how we use branches in the moveit2 repo:

• humble, kilted, jazzy, etc - Stable versions of non-EOL distros. No API breaking changes are pushed to these branches. Build farm releases for non-rolling distros are built from these branches.
• main - This targets rolling, but also compiles against non-EOL distro APIs with MoveIt breaking changes. This enables people on Humble to use the latest features that broke API if they wish (but requires a source build).

The changes to motion_planning_display.hpp might make this more clear.

So I'm keeping the MoveIt Rviz plugin PlanningSceneDisplay::update(float wall_dt, float ros_dt) API to avoid breaking API for those folks (but have marked it as deprecated in Rolling).

[riv-mjohnson]

Would it be sufficient to just add a using declaration to each class, to use the base class' update methods?

Something like

class PlanningSceneDisplay : public rviz_common:Display {
  ...
  using rviz_common::Display::update;
  void update(std::chrono::nanoseconds ...
}

so that PlanningSceneDisplay::update(float, float) just calls rviz_common::Display(float, float) (which in turn just calls PlanningSceneDisplay::update(std::chrono, std::chrono))?

(I think the using declaration is needed to avoid shadowing / name hiding of the update(float, float) method with the update(std::chrono method. See https://stackoverflow.com/questions/31271661/partial-inheritance-of-set-of-overloaded-virtual-functions for details.)

[nbbrooks]

I believe I am following, let's give it a shot.

If I have a rough time with it, I may just revert to the more verbose approach so I can get this fix in (and fix CI).

[mini-1235]

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

[nbbrooks]

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]

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]

Testing out using tf2_ros hpp includes in Kilted now.

[riv-mjohnson]

I believe this will treat float wall_dt and float ros_dt as being in seconds, and convert them to std::chrono::nanoseconds?

The point of ros2/rviz#1533 is that float wall_dt and float ros_dt are (erroneously, and contrary to documentation) already in nanoseconds. See ros2/rviz#1322 and #3528.

[nbbrooks]

Thank you for the review - I will read through those issues in more detail and revise!

[nbbrooks]

Unfortunately we will need the next rolling release (which will include xacro 2.1.1) for this to pass as is (see PickNikRobotics/launch_param_builder#16).

[nbbrooks]

@rhaschke Looking for some advice here. I'm trying to get the required Rolling CI jobs green in this PR so we can merge in PRs without a admin overriding CI (and also not knowing if there are errors past the deprecation-treated-as-error failures). What would you recommend with regard to PickNikRobotics/launch_param_builder#16 ?

1. Wait for the next Rolling sync with xacro 2.1.1
2. Add xacro to the moveit2.repo (temporarily) until the next rolling sync
3. Add launch_param_builder to the moveit2.repo (temporarily) including additions to conform to the current xacro Rolling API

[riv-mjohnson]

https://discourse.openrobotics.org/t/preparing-for-rolling-sync-2025-09-26/50259

Looks like the sync has begun

[MatthijsBurgh]

Sync has happened

[riv-mjohnson]

Looks like the pipelines are still failing with xacro and warehouse problems

[MatthijsBurgh]

Xacro 2.1.1 is released on rolling. And should fix the pathlib compatibility. The code shown in the stacktrace doesn't match the 2.1.1 tag. So maybe caching is preventing the newest xacro to be installed.

[riv-mjohnson]

Yeah, it looks like the old dependencies are being pulled in from the docker cache https://github.com/moveit/moveit2/actions/caches

The quick fix would just be to delete the relevant caches from there.

The longer fix would be to have a preprocessing step so the version numbers are passed into the relevant places in the dockerfile, so it rebuilds the correct layers when dependencies update.

[nbbrooks]

Looks like deleting the rolling and humble ci cache did not get it passing...maybe I need to delete it all.

[nbbrooks]

I think this is actually a correct deprecation treated as error failure, though I don't understand how things were passing earlier.

• https://github.com/ros2/geometry2/blame/rolling/tf2_ros/include/tf2_ros/transform_listener.hpp#L140 is deprecated (which is being used in the line failing in CI)
• https://github.com/ros2/geometry2/blame/rolling/tf2_ros/include/tf2_ros/transform_listener.hpp#L113 is the new api

[nbbrooks]

Oh, the constructor deprecation was in ros2/geometry2#714 not ros2/geometry2#805, that is how. 😭

[riv-mjohnson]

Yeah, looks like new errors. So at least the rolling sync problems are fixed.

[nbbrooks]

Also need to fix deprecations in ros2/rclcpp#2848 now.

It would be nice if the deprecation warnings linked to the PR that generated them. It would save me some time chasing stuff down, especially because the ROS 2 SEO still needs a lot of attention.

[nbbrooks]

It looks like the Tutorial Docker Images / tutorial-source job is not optional like I thought. I am going to force merge this so we can start getting some other stuff merged in (if their non-tutorial Rolling jobs pass) and fix the tutorial issue in a follow-up.

[nbbrooks]

moveit/moveit2_tutorials#1071 should get Tutorial Docker Images / tutorial-source passing again.