Extend API to use std::filesystem by ahcorde · Pull Request #104 · ament/ament_index

ahcorde · 2025-11-13T18:30:21Z

Related with this issue #92

@Ryanf55 FYI

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

Ryanf55 · 2025-11-13T23:21:24Z

Nice to see this, will review soon!

ament_index_cpp/include/ament_index_cpp/get_resource.hpp

ament_index_cpp/include/ament_index_cpp/has_resource.hpp

Ryanf55 · 2025-11-14T18:02:16Z

ament_index_cpp/src/has_resource.cpp

    auto resource_path = path + "/share/ament_index/resource_index/" +
      resource_type + "/" + resource_name;


Suggested change

auto resource_path = path + "/share/ament_index/resource_index/" +

resource_type + "/" + resource_name;

auto resource_path = path / "share" / "ament_index" / "resource_index" /

resource_type / resource_name;

Would it be time to also do changes like this?

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

ahcorde · 2025-11-25T15:04:44Z

There is still one function which required deprecation which is get_packages_with_prefixes. @Ryanf55 Do you have any idea about how we can rename this one ?

ahcorde · 2025-12-08T11:12:43Z

@ros-pull-request-builder retest this please

ahcorde · 2025-12-08T15:56:06Z

do you mind to take a look ? @mjcarroll @asymingt

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

ahcorde · 2025-12-18T11:30:02Z

Related PRs:

ahcorde · 2025-12-18T11:37:48Z

Pulls: ros/pluginlib#289, #104, ros/resource_retriever#118, ros/ros_tutorials#190, ros-perception/image_common#388, ros2/rclcpp#3011, ros2/rmw_implementation#272, ros2/rmw_zenoh#879, ros2/rosbag2#2268, ros2/rviz#1647
Gist: https://gist.githubusercontent.com/ahcorde/39681e4e2c4ae7c2079f7fbd2e07884f/raw/105720d4ff8bdf2a21aee9708bf35531a754a3b3/ros2.repos
BUILD args: --packages-above-and-dependencies ament_index_cpp
TEST args: --packages-above ament_index_cpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17828

Linux
Linux-aarch64
Linux-rhel
Windows

jmachowinski · 2025-12-18T14:51:37Z

ament_index_cpp/include/ament_index_cpp/get_resource.hpp

+ * \throws std::runtime_error if resource_type or resource_name are empty.
+ */
+AMENT_INDEX_CPP_PUBLIC
+std::pair<std::optional<std::filesystem::path>, std::string>


I am not the biggest fan of std::pair as return type.
A small struct like

Suggested change

std::pair<std::optional<std::filesystem::path>, std::string>

struct PathWithResource

{

std::optional<std::filesystem::path> resourcePath;

// ?

std::string contents;

}

is nicer and makes the code using the return type way more understandable.

Also from the documentation I can't figure out what contents is / should contain.

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

ahcorde · 2025-12-19T10:49:47Z

Pulls: ros/pluginlib#289, #104, ros/resource_retriever#118, ros/ros_tutorials#190, ros-perception/image_common#388, ros2/rclcpp#3011, ros2/rmw_implementation#272, ros2/rmw_zenoh#879, ros2/rosbag2#2268, ros2/rviz#1647
Gist: https://gist.githubusercontent.com/ahcorde/e52f66b6b23f6f749ced640a964517d1/raw/105720d4ff8bdf2a21aee9708bf35531a754a3b3/ros2.repos
BUILD args: --packages-above-and-dependencies ament_index_cpp
TEST args: --packages-above ament_index_cpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17831

Linux
Linux-aarch64
Linux-rhel
Windows

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

peci1 · 2026-01-26T15:54:18Z

Would you consider backporting this (without the deprecations) to Jazzy and Kilted? It seems to me most of the changes are just adding new free functions, so it should be API and ABI compatible.

jmachowinski · 2026-01-26T17:00:40Z

@peci1 I don't see a reason against it, feel free to open a PR

peci1 · 2026-01-26T17:01:57Z

I thought mergifio could do it, but I can't task it =)

jmachowinski · 2026-01-26T17:46:16Z

Mergify won't filter out the deprecation, therefore it needs to be a manual backport

peci1 · 2026-01-26T17:47:37Z

Okay, I'll have a look ;)

Ryanf55 · 2026-01-26T17:47:39Z

Mergify won't filter out the deprecation, therefore it needs to be a manual backport

You can use mergify to start and then edit the code before merge.

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

peci1 · 2026-01-27T10:18:12Z

Okay, I went with Jazzy manually: #109 . I'll do Kilted once Jazzy is merged.

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit 1bba98c)

(cherry picked from commit 1bba98c) Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz> Co-authored-by: Martin Pecka <peci1@seznam.cz> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

Timple · 2026-02-19T20:45:04Z

ament_index_cpp/include/ament_index_cpp/get_package_prefix.hpp

+ */
+AMENT_INDEX_CPP_PUBLIC
+void
+get_package_prefix(const std::string & package_name, std::filesystem::path & path);


Why is the result an argument and not an output of the function?

Now my code is more verbose because I need to construct an empty path first to pass it to this function.

This:

auto dbc = ament_index_cpp::get_package_share_directory("can_dbc_pkg") + "/test/motohawk.dbc";

Becomes this:

std::filesystem::path package_path; ament_index_cpp::get_package_share_directory("can_dbc_pkg", package_path); auto dbc = package_path / "test" / "motohawk.dbc";

To keep ABI perhaps we could have also just created a different function name? How about get_package_share_path:

auto dbc = ament_index_cpp::get_package_share_path("can_dbc_pkg") / "test" / "motohawk.dbc";

I think this was because you can't have two functions with the same args and different result type. So there was need to distinguish the new API somehow else.

But I agree the solution with renaming the function is much friendlier.

Migrate to non-deprecated ament_index_cpp APIs introduced in ament/ament_index#104 to fix -Werror=deprecated-declarations errors. Signed-off-by: Daisuke Sato <tiryoh@gmail.com>

Temporarily disable deprecation warning-as-error for QT and ament_target_dependencies deprecation warnings

…:path (#3703) * Update deprecated usage of get_package_share * Add include guards for ament/ament_index#104 --------- Co-authored-by: Stephanie Eng <seng@ottomotors.com> Co-authored-by: Nathan Brooks <nathanbrooks@picknik.ai> Co-authored-by: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

Extend API to use std::filesystem

4246100

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

ahcorde requested review from asymingt and mjcarroll November 13, 2025 18:30

ahcorde self-assigned this Nov 13, 2025

ahcorde mentioned this pull request Nov 13, 2025

Feature Request: Support for std::filesystem::path in ament_index_cpp #92

Closed

Ryanf55 reviewed Nov 14, 2025

View reviewed changes

Added feedback and more changes

2015783

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

ahcorde requested a review from Ryanf55 November 25, 2025 15:03

mjcarroll approved these changes Dec 8, 2025

View reviewed changes

use pair instead of tuplke

fe6df91

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

mjcarroll approved these changes Dec 18, 2025

View reviewed changes

jmachowinski suggested changes Dec 18, 2025

View reviewed changes

Windows fixes

35b9847

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

Update signature

b817ab6

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

mjcarroll mentioned this pull request Jan 5, 2026

🧑‍🌾 zenoh_config.cpp gcc, clang, clang-tidy build warning due to get_package_share_directory string deprecation in nightly_linux ros2/rmw_zenoh#883

Closed

ericmlujan mentioned this pull request Jan 7, 2026

Add autogenerated version header #105

Merged

ajtudela mentioned this pull request Jan 8, 2026

[Docker] Missing components for Qt5 when building Docker image (for nav2_rviz_plugins -> rviz_common) ros-navigation/navigation2#5743

Closed

This was referenced Jan 9, 2026

Add autogenerated version header (backport #105) #106

Merged

Add autogenerated version header (backport #105) #107

Merged

Add autogenerated version header (backport #105) #108

Merged

ahcorde mentioned this pull request Jan 21, 2026

Updated ament_index_cpp API ros-controls/mujoco_ros2_control#82

Open

peci1 pushed a commit to peci1/ament_index that referenced this pull request Jan 27, 2026

Extend API to use std::filesystem (ament#104)

86f8ba3

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

peci1 mentioned this pull request Jan 27, 2026

Extend API to use std::filesystem (backport #104) #109

Merged

peci1 pushed a commit to peci1/ament_index that referenced this pull request Jan 27, 2026

Extend API to use std::filesystem (ament#104)

72480f8

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

mergify bot mentioned this pull request Feb 2, 2026

Extend API to use std::filesystem (backport #104) (backport #109) #110

Merged

mergify bot mentioned this pull request Feb 2, 2026

Extend API to use std::filesystem (backport #104) (backport #109) #111

Closed

Timple reviewed Feb 19, 2026

View reviewed changes

Tiryoh mentioned this pull request Feb 20, 2026

Update Rosbag2 filename format to index+name+timestamp ros2/rosbag2#2265

Merged

nbbrooks mentioned this pull request Mar 16, 2026

Update deprecated usage of get_package_share without std::filesystem::path moveit/moveit2#3703

Merged

6 tasks

nbbrooks added a commit to stephanie-eng/moveit2 that referenced this pull request Mar 16, 2026

Add include guards for ament/ament_index#104

a3d95b1

Temporarily disable deprecation warning-as-error for QT and ament_target_dependencies deprecation warnings

nbbrooks added a commit to stephanie-eng/moveit2 that referenced this pull request Mar 22, 2026

Add include guards for ament/ament_index#104

8bef942

		auto resource_path = path + "/share/ament_index/resource_index/" +
		resource_type + "/" + resource_name;

-std::pair<std::optional<std::filesystem::path>, std::string>
+struct PathWithResource
+{
+std::optional<std::filesystem::path> resourcePath;
+// ?
+std::string contents;
+}

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