resolute: complete ament_index_cpp::get_package_share_path migration

[nbbrooks]

Summary

Completes the ament_index_cpp::get_package_share_directory → get_package_share_path migration that #3703 started for Rolling. The current source has #if RCLCPP_VERSION_GTE(30, 0, 0) guards that hit the wrong branch on Rolling-on-Noble (deprecated call path) and outright fail to compile on Rolling-on-Resolute (missing header). Fixes both with a three-tier guard keyed on AMENT_INDEX_CPP_VERSION_GTE — the correct carrier package's version macro.

Background: what ament_index_cpp did

ament_index_cpp's get_package_share_directory API evolved in two steps:

Version	Header	API
≥ 1.14.0 (Rolling on Resolute)	<ament_index_cpp/get_package_share_path.hpp>	get_package_share_path(pkg) returns std::filesystem::path directly. Old header removed.
≥ 1.5.x (Jazzy, Kilted, Lyrical, Rolling-on-Noble)	<ament_index_cpp/get_package_share_directory.hpp>	Both forms: std::string get_package_share_directory(pkg) (deprecated in 1.13+) and void get_package_share_directory(pkg, std::filesystem::path& out) (non-deprecated).
older (Humble 1.4.1)	<ament_index_cpp/get_package_share_directory.hpp>	Only std::string get_package_share_directory(pkg). Not deprecated.

Version snapshot for the distros moveit2 currently supports (from apt-cache policy against packages.ros.org):

Distro	ament_index_cpp	Notes
Humble (jammy)	1.4.1	1-arg only
Jazzy (noble)	1.8.4	Both forms; neither deprecated
Kilted (noble)	1.11.4	Both forms; neither deprecated
Lyrical (resolute)	1.13.3	Both forms; 1-arg deprecated
Rolling on Noble (frozen moveit/moveit2:rolling-ci)	1.13.1	Both forms; 1-arg deprecated
Rolling on Resolute (current)	1.14.1	Only new API

What went wrong in #3703

#3703 added conditional branches like:

#if RCLCPP_VERSION_GTE(30, 0, 0)
  std::filesystem::path urdf_path;
  ament_index_cpp::get_package_share_directory(package_name, urdf_path);
  urdf_path /= urdf_relative_path;
#else
  const auto urdf_path =
      std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name)) / urdf_relative_path;
#endif

Two problems:

1. Wrong carrier. RCLCPP_VERSION_GTE(30, 0, 0) guards on rclcpp's version, but the API change lives in ament_index_cpp. When Update deprecated usage of get_package_share without std::filesystem::path #3703 was written the two packages' versions happened to correlate; they've since drifted apart (see the version snapshot above).
2. The #if branch's 2-arg call is real on 1.13.x but no longer exists on 1.14+. On the current Rolling-on-Resolute container, <ament_index_cpp/get_package_share_directory.hpp> doesn't exist at all — the header include itself fails.

Concretely, the current code fails on rolling-resolute with:

fatal error: ament_index_cpp/get_package_share_path.hpp: No such file or directory

(from an earlier iteration of this PR that guarded on a too-permissive threshold; the current version pins the header choice on 1.14+ so this specific error is gone.)

What this PR does

Three-tier guard, keyed on AMENT_INDEX_CPP_VERSION_GTE:

#include <ament_index_cpp/version.h>
#if AMENT_INDEX_CPP_VERSION_GTE(1, 14, 0)
#include <ament_index_cpp/get_package_share_path.hpp>
#else
#include <ament_index_cpp/get_package_share_directory.hpp>
#endif

// ... in the call site:
#if AMENT_INDEX_CPP_VERSION_GTE(1, 14, 0)
  const auto path = ament_index_cpp::get_package_share_path(pkg);
#elif AMENT_INDEX_CPP_VERSION_GTE(1, 5, 0)
  std::filesystem::path path;
  ament_index_cpp::get_package_share_directory(pkg, path);
#else
  const auto path = std::filesystem::path(ament_index_cpp::get_package_share_directory(pkg));
#endif

Why three tiers, not two:

• 1.14+ branch uses the new get_package_share_path API. Required to compile on Rolling-on-Resolute where the old header is gone.
• 1.5–1.13.x branch uses the non-deprecated 2-arg out-param form. This branch matters even though it's "old API" because Rolling-on-Noble (the frozen moveit/moveit2:rolling-ci container, ament_index_cpp 1.13.1) treats the 1-arg form as deprecated, and the rolling-ci + deprecation check job runs with -Werror=deprecated-declarations. Using the 2-arg form keeps that job green.
• Sub-1.5 branch falls back to the only form Humble's 1.4.1 has.

Why guard on AMENT_INDEX_CPP_VERSION_GTE instead of RCLCPP_VERSION_GTE: the API rename lives in ament_index_cpp. Its release cadence is independent of rclcpp's. Using another package's version macro as a proxy silently misfires when the two packages' versions drift — exactly what happened in #3703 → this fix. Companion policy update in #3751 makes "guard on the feature-carrier package's version macro" the documented rule going forward.

Also drops the now-unused #include <rclcpp/version.h> in each file (added by #3703 for the guard we replaced).

Test plan

• Full source-build of moveit2 + downstream on ubuntu:resolute + ROS Rolling (ros2-testing apt) — all three files' downstream packages build cleanly; the rolling-resolute build path exercises the 1.14+ branch.
• rolling-ci + ccov (Rolling on Noble, ament_index_cpp 1.13.1, no -Werror on deprecations) — exercises the 1.5–1.13.x branch.
• rolling-ci + deprecation check (same container, -Werror=deprecated-declarations) — exercises the 1.5–1.13.x branch, confirms the 2-arg form doesn't trigger deprecation.
• humble-ci, jazzy-ci — exercise the sub-1.5 and 1.5+ branches respectively.

[codecov]

Codecov Report

❌ Patch coverage is 0% with 4 lines in your changes missing coverage. Please review.
✅ Project coverage is 46.28%. Comparing base (4a766fd) to head (7c2646e).

Files with missing lines	Patch %	Lines
moveit_core/utils/src/robot_model_test_utils.cpp	0.00%	4 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3705      +/-   ##
==========================================
+ Coverage   46.23%   46.28%   +0.06%     
==========================================
  Files         726      726              
  Lines       59512    59506       -6     
  Branches     7622     7624       +2     
==========================================
+ Hits        27509    27538      +29     
+ Misses      31836    31801      -35     
  Partials      167      167              

☔ View full report in Codecov by Harness.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.