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

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Merged
nbbrooks merged 6 commits into from
Mar 23, 2026
+48 −3
Merged

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

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7236a3f
Update deprecated usage of get_package_share
Mar 13, 2026
3419f48
Fix more get_package_shares
Mar 13, 2026
2697b70
Update to Qt6 and hope
Mar 13, 2026
c68e134
Revert "Update to Qt6 and hope"
nbbrooks Mar 16, 2026
8bef942
Add include guards for https://github.com/ament/ament_index/pull/104
nbbrooks Mar 16, 2026
da8f17d
Merge branch 'main' into seng/update-get-package-share
nbbrooks Mar 23, 2026
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30 changes: 30 additions & 0 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 @@ -34,6 +34,8 @@

/* Author: Bryce Willey */

#include <rclcpp/version.h>

#include <ament_index_cpp/get_package_share_directory.hpp>
#include <boost/algorithm/string_regex.hpp>
#include <filesystem>
Expand Down Expand Up @@ -64,10 +66,20 @@ 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;
#else
const auto urdf_path =
std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name)) / urdf_relative_path;
const auto srdf_path =
std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name)) / srdf_relative_path;
#endif

urdf::ModelInterfaceSharedPtr urdf_model = urdf::parseURDFFile(urdf_path.string());
if (urdf_model == nullptr)
Expand Down Expand Up @@ -95,7 +107,13 @@ 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)
std::filesystem::path res_path;
ament_index_cpp::get_package_share_directory(package_name, res_path);
#else
std::filesystem::path res_path(ament_index_cpp::get_package_share_directory(package_name));
#endif
std::string urdf_path;
if (robot_name == "pr2")
{
Expand Down Expand Up @@ -123,13 +141,25 @@ 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)
std::filesystem::path res_path;
ament_index_cpp::get_package_share_directory(package_name, res_path);
#else
std::filesystem::path res_path(ament_index_cpp::get_package_share_directory(package_name));
#endif
srdf_path = (res_path / "srdf/robot.xml").string();
}
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)
std::filesystem::path res_path;
ament_index_cpp::get_package_share_directory(package_name, res_path);
#else
std::filesystem::path res_path(ament_index_cpp::get_package_share_directory(package_name));
#endif
srdf_path = (res_path / "config" / (robot_name + ".srdf")).string();
}
srdf_model->initFile(*urdf_model, srdf_path);
Expand Down
12 changes: 9 additions & 3 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 @@ -34,6 +34,8 @@

/* 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>
Expand Down Expand Up @@ -217,18 +219,22 @@ bool RDFLoader::loadXmlFileToString(std::string& buffer, const std::string& path
bool RDFLoader::loadPkgFileToString(std::string& buffer, const std::string& package_name,
const std::string& relative_path, const std::vector<std::string>& xacro_args)
{
std::string package_path;
std::filesystem::path path;
try
{
package_path = ament_index_cpp::get_package_share_directory(package_name);
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
ament_index_cpp::get_package_share_directory(package_name, path);
#else
path = ament_index_cpp::get_package_share_directory(package_name);
#endif
}
catch (const ament_index_cpp::PackageNotFoundError& e)
{
RCLCPP_ERROR(getLogger(), "ament_index_cpp: %s", e.what());
return false;
}

std::filesystem::path path(package_path);
path = path / relative_path;

return loadXmlFileToString(buffer, path.string(), xacro_args);
Expand Down
9 changes: 9 additions & 0 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 @@ -36,6 +36,8 @@

#pragma once

#include <rclcpp/version.h>

#include <ament_index_cpp/get_package_prefix.hpp>
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <filesystem>
Expand All @@ -52,7 +54,14 @@ inline std::filesystem::path getSharePath(const std::string& package_name)
{
try
{
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
std::filesystem::path path;
ament_index_cpp::get_package_share_directory(package_name, path);
return path;
#else
return std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name));
#endif
}
catch (const std::runtime_error& e)
{
Expand Down
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