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Change tf2_ros C to C++ headers#805

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garyservin:change-tf2_ros-to-c++-headers
Jul 18, 2025
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Change tf2_ros C to C++ headers#805
ahcorde merged 3 commits intoros2:rollingfrom
garyservin:change-tf2_ros-to-c++-headers

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@garyservin garyservin commented Jul 11, 2025

Description

Similar to #720, this PR moves the .h files to .hpp, while keeping a message to users about the deprecated headers.

Fixes #746

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ahcorde commented Jul 14, 2025

Pulls: #805
Gist: https://gist.githubusercontent.com/ahcorde/17e1ee53652f4cd2c0fd37cd45352c5c/raw/1a757d665d704f138a588a37feffd4915b53edac/ros2.repos
BUILD args: --packages-above-and-dependencies test_tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_ros tf2_sensor_msgs
TEST args: --packages-above test_tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_ros tf2_sensor_msgs
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16486

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garyservin commented Jul 14, 2025

Should I also fix the order of the includes in this PR?

The other failing tests is because this line is too long. Not sure what the process is in these cases, I could rename the define to make it shorted or ignore the linting for that line?

Thanks!

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Should I also fix the order of the includes in this PR?

The other failing tests is because this line is too long. Not sure what the process is in these cases, I could rename the define to make it shorted or ignore the linting for that line?

Thanks!

Yes, reorder the includes according with cpplint

@garyservin garyservin requested a review from ahcorde July 14, 2025 15:11
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I can here some more deprecation warnings too https://ci.ros2.org/job/ci_linux/24290/clang-tidy/

@garyservin garyservin requested a review from ahcorde July 15, 2025 13:44
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ahcorde commented Jul 16, 2025

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This was referenced Jul 17, 2025
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ahcorde commented Jul 17, 2025

Related PRs

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ahcorde commented Jul 17, 2025 •
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Pulls: #805, ros/robot_state_publisher#235, ros2/rviz#1529
Gist: https://gist.githubusercontent.com/ahcorde/fa4b25236bdc5813555fdcc87cf64953/raw/07ef33e1747e6de473d68d43300776fd32de3305/ros2.repos
BUILD args: --packages-above-and-dependencies test_tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_ros tf2_sensor_msgs
TEST args: --packages-above test_tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_ros tf2_sensor_msgs
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16514

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@garyservin garyservin mentioned this pull request Jul 17, 2025
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ahcorde commented Jul 17, 2025 •
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Pulls: #805, ros/robot_state_publisher#235, ros2/rviz#1529
Gist: https://gist.githubusercontent.com/ahcorde/0d6bdc46ee2dbe5ca020f149e2cfac5f/raw/07ef33e1747e6de473d68d43300776fd32de3305/ros2.repos
BUILD args: --packages-above-and-dependencies test_tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_ros tf2_sensor_msgs
TEST args: --packages-above test_tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_ros tf2_sensor_msgs
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16518

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@ahcorde ahcorde merged commit a99d88b into ros2:rolling Jul 18, 2025
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Timple commented Jul 18, 2025

Will this also be backported without the deprecation message?

Such that packages don't have to do the whole " if ROS_DISTRO" cmake logic it they support multiple distros on a single branch?

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ahcorde commented Jul 18, 2025

@Timple we have done this in the past for other packages, happy to review the PR

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garyservin commented Jul 18, 2025

Thanks for merging @ahcorde ! One question, would it make sense to backport these changes to jazzy and kilted as well?

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ahcorde commented Jul 18, 2025 •
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Thanks for merging @ahcorde ! One question, would it make sense to backport these changes to jazzy and kilted as well?

As @Timple mentioned, we can backport these changes without the deprecation

@mini-1235 mini-1235 mentioned this pull request Jul 22, 2025
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@garyservin garyservin mentioned this pull request Jul 23, 2025
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Timple commented Aug 18, 2025

Seems like @garyservin already did the honors:
#807

@yukkysaito yukkysaito mentioned this pull request Aug 18, 2025
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@nbbrooks nbbrooks mentioned this pull request Sep 8, 2025
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nbbrooks added a commit to moveit/moveit2 that referenced this pull request Oct 12, 2025
@nbbrooks @mosfet80
Fix deprecations in image_common and tf2_ros (#3567)
65aa94c 
* Fix image_common NodeT deprecation warnings from ros-perception/image_common#352 - migrate to NodeInterfaces

* Fix image_common rmw_qos_profile_t deprecation warnings from ros-perception/image_common#364 - migrate to rclcpp::QoS

* Fix rviz update float deprecation warnings from ros2/rviz#1533 - migrate to std::chrono::duration

* Fix geometry2 tf2_ros .h deprecation warnings from ros2/geometry2#805 - migrate Kilted and Rolling to .hpp

* Fix geometry2 tf2_ros NodeT deprecation warnings from ros2/geometry2#714 - migrate to NodeInterfaces

* Fix rclcpp spin_some deprecation warnings from ros2/rclcpp#2848 - migrate to SingleThreadedExecutor

---------

Co-authored-by: Andrea <realeandrea@yahoo.it>
helen9975 pushed a commit to personalrobotics/moveit2 that referenced this pull request Feb 17, 2026
@nbbrooks @mosfet80
Fix deprecations in image_common and tf2_ros (moveit#3567)
b7bceea 
* Fix image_common NodeT deprecation warnings from ros-perception/image_common#352 - migrate to NodeInterfaces

* Fix image_common rmw_qos_profile_t deprecation warnings from ros-perception/image_common#364 - migrate to rclcpp::QoS

* Fix rviz update float deprecation warnings from ros2/rviz#1533 - migrate to std::chrono::duration

* Fix geometry2 tf2_ros .h deprecation warnings from ros2/geometry2#805 - migrate Kilted and Rolling to .hpp

* Fix geometry2 tf2_ros NodeT deprecation warnings from ros2/geometry2#714 - migrate to NodeInterfaces

* Fix rclcpp spin_some deprecation warnings from ros2/rclcpp#2848 - migrate to SingleThreadedExecutor

---------

Co-authored-by: Andrea <realeandrea@yahoo.it>
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Change tf2_ros C to C++ headers

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@garyservin @ahcorde @Timple