So I was able to get deprecation warnings in my 20.04 VM with this diff:

diff --git a/rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp b/rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp
index 1e1668b..da9f086 100644
--- a/rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp
+++ b/rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp
@@ -144,7 +144,7 @@ public:
    *  exec.spin_until_future_complete(future);
    */
   template<typename ResponseT, typename TimeRepT = int64_t, typename TimeT = std::milli>
-  rclcpp::FutureReturnCode
+  rclcpp::executor::FutureReturnCode
   spin_until_future_complete(
     std::shared_future<ResponseT> & future,
     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))

--- stderr: rclcpp
In file included from /home/william/ros2_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp:23:
/home/william/ros2_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp:150:96: warning: ‘using FutureReturnCode = enum class rclcpp::FutureReturnCode’ is deprecated: use rclcpp::FutureReturnCode instead [-Wdeprecated-declarations]
  150 |     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
      |                                                                                                ^
In file included from /home/william/ros2_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/executor.hpp:34,
                 from /home/william/ros2_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp:26,
                 from /home/william/ros2_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp:23:
/home/william/ros2_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/future_return_code.hpp:48:7: note: declared here
   48 | using FutureReturnCode [[deprecated("use rclcpp::FutureReturnCode instead")]] = FutureReturnCode;
      |       ^~~~~~~~~~~~~~~~

[... many other similar instances ...]

In file included from /home/william/ros2_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/executors.hpp:23,
                 from /home/william/ros2_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/rclcpp.hpp:146,
                 from /home/william/ros2_ws/src/ros2/rclcpp/rclcpp/test/test_guard_condition.cpp:19:
/home/william/ros2_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp:150:96: warning: ‘using FutureReturnCode = enum class rclcpp::FutureReturnCode’ is deprecated: use rclcpp::FutureReturnCode instead [-Wdeprecated-declarations]
  150 |     std::chrono::duration<TimeRepT, TimeT> timeout = std::chrono::duration<TimeRepT, TimeT>(-1))
      |                                                                                                ^
In file included from /home/william/ros2_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/executor.hpp:34,
                 from /home/william/ros2_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /home/william/ros2_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/executors.hpp:21,
                 from /home/william/ros2_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/rclcpp.hpp:146,
                 from /home/william/ros2_ws/src/ros2/rclcpp/rclcpp/test/test_guard_condition.cpp:19:
/home/william/ros2_ws/src/ros2/rclcpp/rclcpp/include/rclcpp/future_return_code.hpp:48:7: note: declared here
   48 | using FutureReturnCode [[deprecated("use rclcpp::FutureReturnCode instead")]] = FutureReturnCode;
      |       ^~~~~~~~~~~~~~~~
---

@maryaB-osr can you say what you were doing before? Maybe it doesn't work in some specific case like when building the example packages or some other corner case I'm not considering?

deprecation warning not working on Linux #1154

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