From d2b1c51c9d4c83ad97003f93d45072eadb7c6d68 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Fri, 19 Jul 2024 15:11:51 +0200
Subject: [PATCH 1/3] Fix deprecation warning

---
 .../src/pointcloud_octomap_updater.cpp                         | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
index 6e2b8678d8..2cfb19b74a 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
+++ b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
@@ -96,7 +96,6 @@ void PointCloudOctomapUpdater::start()
   if (!ns_.empty())
     prefix = ns_ + "/";
 
-  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_sensor_data));
   if (!filtered_cloud_topic_.empty())
   {
     filtered_cloud_publisher_ =
@@ -107,7 +106,7 @@ void PointCloudOctomapUpdater::start()
     return;
   /* subscribe to point cloud topic using tf filter*/
   point_cloud_subscriber_ = new message_filters::Subscriber<sensor_msgs::msg::PointCloud2>(node_, point_cloud_topic_,
-                                                                                           rmw_qos_profile_sensor_data);
+                                                                                           rclcpp::SensorDataQoS());
   if (tf_listener_ && tf_buffer_ && !monitor_->getMapFrame().empty())
   {
     point_cloud_filter_ = new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>(

From ba8a2b4033f1e2a0ce8332176240bb9f22b95ace Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Thu, 25 Jul 2024 14:12:50 +0200
Subject: [PATCH 2/3] Add compile-time switch

---
 .../src/pointcloud_octomap_updater.cpp                        | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
index 2cfb19b74a..56fa447338 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
+++ b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
@@ -106,7 +106,11 @@ void PointCloudOctomapUpdater::start()
     return;
   /* subscribe to point cloud topic using tf filter*/
   point_cloud_subscriber_ = new message_filters::Subscriber<sensor_msgs::msg::PointCloud2>(node_, point_cloud_topic_,
+#if RCLCPP_VERSION_GTE(28, 3, 0)
                                                                                            rclcpp::SensorDataQoS());
+#else
+                                                                                           rmw_qos_profile_sensor_data);
+#endif
   if (tf_listener_ && tf_buffer_ && !monitor_->getMapFrame().empty())
   {
     point_cloud_filter_ = new tf2_ros::MessageFilter<sensor_msgs::msg::PointCloud2>(

From fa37862ed7b53ec7202743d94b359446c0a8eed9 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Fri, 26 Jul 2024 10:32:47 +0200
Subject: [PATCH 3/3] Add rclcpp/version.h

---
 .../src/pointcloud_octomap_updater.cpp                           | 1 +
 1 file changed, 1 insertion(+)

diff --git a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
index 56fa447338..bce0275430 100644
--- a/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
+++ b/moveit_ros/perception/pointcloud_octomap_updater/src/pointcloud_octomap_updater.cpp
@@ -44,6 +44,7 @@
 #include <tf2_ros/create_timer_interface.h>
 #include <tf2_ros/create_timer_ros.h>
 #include <moveit/utils/logger.hpp>
+#include <rclcpp/version.h>
 
 #include <memory>