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resolute: complete ament_index_cpp::get_package_share_path migration #3705

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Merged
nbbrooks merged 1 commit into from
Jul 9, 2026
+80 −24
Merged

resolute: complete ament_index_cpp::get_package_share_path migration #3705

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52 changes: 36 additions & 16 deletions moveit_core/utils/src/robot_model_test_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,9 +34,26 @@

/* Author: Bryce Willey */

#include <rclcpp/version.h>

// ament_index_cpp's get_package_share_directory API changed twice.
// Guard on ament_index_cpp's own version — not rclcpp — because the
// changes live in ament_index_cpp and its release cadence is independent
// of rclcpp's.
// 1.14+ (Rolling on Resolute):
// get_package_share_directory.hpp REMOVED, replaced with
// get_package_share_path.hpp exposing get_package_share_path(pkg)
// returning std::filesystem::path directly.
// 1.5+ (Jazzy 1.8.4, Kilted 1.11.4, Lyrical 1.13.3, Rolling-on-Noble 1.13.1):
// 2-arg out-param overload get_package_share_directory(pkg, path)
// available; the 1-arg form is deprecated starting in 1.13.
// Older (Humble 1.4.1):
// only the non-deprecated 1-arg get_package_share_directory(pkg)
// returning std::string is available.
#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
#include <boost/algorithm/string_regex.hpp>
#include <filesystem>
#include <geometry_msgs/msg/pose.hpp>
Expand Down Expand Up @@ -66,14 +83,14 @@ moveit::core::RobotModelPtr loadTestingRobotModel(const std::string& package_nam
const std::string& urdf_relative_path,
const std::string& srdf_relative_path)
{
// For Rolling, L-turtle, and newer
#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;
std::filesystem::path srdf_path;
ament_index_cpp::get_package_share_directory(package_name, srdf_path);
srdf_path /= srdf_relative_path;
#if AMENT_INDEX_CPP_VERSION_GTE(1, 14, 0)
const auto urdf_path = ament_index_cpp::get_package_share_path(package_name) / urdf_relative_path;
const auto srdf_path = ament_index_cpp::get_package_share_path(package_name) / srdf_relative_path;
#elif AMENT_INDEX_CPP_VERSION_GTE(1, 5, 0)
std::filesystem::path pkg_share;
ament_index_cpp::get_package_share_directory(package_name, pkg_share);
const auto urdf_path = pkg_share / urdf_relative_path;
const auto srdf_path = pkg_share / srdf_relative_path;
#else
const auto urdf_path =
std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name)) / urdf_relative_path;
Expand Down Expand Up @@ -107,8 +124,9 @@ moveit::core::RobotModelPtr loadTestingRobotModel(const std::string& robot_name)
urdf::ModelInterfaceSharedPtr loadModelInterface(const std::string& robot_name)
{
const std::string package_name = "moveit_resources_" + robot_name + "_description";
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
#if AMENT_INDEX_CPP_VERSION_GTE(1, 14, 0)
std::filesystem::path res_path = ament_index_cpp::get_package_share_path(package_name);
#elif AMENT_INDEX_CPP_VERSION_GTE(1, 5, 0)
std::filesystem::path res_path;
ament_index_cpp::get_package_share_directory(package_name, res_path);
#else
Expand Down Expand Up @@ -141,8 +159,9 @@ srdf::ModelSharedPtr loadSRDFModel(const std::string& robot_name)
if (robot_name == "pr2")
{
const std::string package_name = "moveit_resources_" + robot_name + "_description";
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
#if AMENT_INDEX_CPP_VERSION_GTE(1, 14, 0)
std::filesystem::path res_path = ament_index_cpp::get_package_share_path(package_name);
#elif AMENT_INDEX_CPP_VERSION_GTE(1, 5, 0)
std::filesystem::path res_path;
ament_index_cpp::get_package_share_directory(package_name, res_path);
#else
Expand All @@ -153,8 +172,9 @@ srdf::ModelSharedPtr loadSRDFModel(const std::string& robot_name)
else
{
const std::string package_name = "moveit_resources_" + robot_name + "_moveit_config";
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
#if AMENT_INDEX_CPP_VERSION_GTE(1, 14, 0)
std::filesystem::path res_path = ament_index_cpp::get_package_share_path(package_name);
#elif AMENT_INDEX_CPP_VERSION_GTE(1, 5, 0)
std::filesystem::path res_path;
ament_index_cpp::get_package_share_directory(package_name, res_path);
#else
Expand Down
26 changes: 22 additions & 4 deletions moveit_ros/planning/rdf_loader/src/rdf_loader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,13 +34,30 @@

/* Author: Ioan Sucan, Mathias Lüdtke, Dave Coleman */

#include <rclcpp/version.h>

// MoveIt
#include <moveit/rdf_loader/rdf_loader.hpp>
#include <std_msgs/msg/string.hpp>
#include <ament_index_cpp/get_package_prefix.hpp>
// ament_index_cpp's get_package_share_directory API changed twice.
// Guard on ament_index_cpp's own version — not rclcpp — because the
// changes live in ament_index_cpp and its release cadence is independent
// of rclcpp's.
// 1.14+ (Rolling on Resolute):
// get_package_share_directory.hpp REMOVED, replaced with
// get_package_share_path.hpp exposing get_package_share_path(pkg)
// returning std::filesystem::path directly.
// 1.5+ (Jazzy 1.8.4, Kilted 1.11.4, Lyrical 1.13.3, Rolling-on-Noble 1.13.1):
// 2-arg out-param overload get_package_share_directory(pkg, path)
// available; the 1-arg form is deprecated starting in 1.13.
// Older (Humble 1.4.1):
// only the non-deprecated 1-arg get_package_share_directory(pkg)
// returning std::string is available.
#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
#include <moveit/utils/logger.hpp>

#include <rclcpp/duration.hpp>
Expand Down Expand Up @@ -222,8 +239,9 @@ bool RDFLoader::loadPkgFileToString(std::string& buffer, const std::string& pack
std::filesystem::path path;
try
{
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
#if AMENT_INDEX_CPP_VERSION_GTE(1, 14, 0)
path = ament_index_cpp::get_package_share_path(package_name);
#elif AMENT_INDEX_CPP_VERSION_GTE(1, 5, 0)
ament_index_cpp::get_package_share_directory(package_name, path);
#else
path = ament_index_cpp::get_package_share_directory(package_name);
Expand Down
26 changes: 22 additions & 4 deletions moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,10 +36,27 @@

#pragma once

#include <rclcpp/version.h>

#include <ament_index_cpp/get_package_prefix.hpp>
// ament_index_cpp's get_package_share_directory API changed twice.
// Guard on ament_index_cpp's own version — not rclcpp — because the
// changes live in ament_index_cpp and its release cadence is independent
// of rclcpp's.
// 1.14+ (Rolling on Resolute):
// get_package_share_directory.hpp REMOVED, replaced with
// get_package_share_path.hpp exposing get_package_share_path(pkg)
// returning std::filesystem::path directly.
// 1.5+ (Jazzy 1.8.4, Kilted 1.11.4, Lyrical 1.13.3, Rolling-on-Noble 1.13.1):
// 2-arg out-param overload get_package_share_directory(pkg, path)
// available; the 1-arg form is deprecated starting in 1.13.
// Older (Humble 1.4.1):
// only the non-deprecated 1-arg get_package_share_directory(pkg)
// returning std::string is available.
#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
#include <filesystem>
#include <string>
#include <tinyxml2.h>
Expand All @@ -54,8 +71,9 @@ inline std::filesystem::path getSharePath(const std::string& package_name)
{
try
{
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
#if AMENT_INDEX_CPP_VERSION_GTE(1, 14, 0)
return ament_index_cpp::get_package_share_path(package_name);
#elif AMENT_INDEX_CPP_VERSION_GTE(1, 5, 0)
std::filesystem::path path;
ament_index_cpp::get_package_share_directory(package_name, path);
return path;
Expand Down
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