Fix: Forward-port build warning fixes from v10.0 to v10.1

[scopenhagenPickNik]

[written by AI]

Closes PickNikRobotics/moveit_pro#22636

Motivation

The rc10 warnings in #22636 are the ones #862 fixed for PickNikRobotics/moveit_pro#21503. #862 merged into v10.0 only, so v10.1 still pins the old fanuc and ros2_kortex commits and still passes rmw_qos_profile_services_default in the Kinova protective stop manager.

Brief description

A cherry-pick of #862 (fcb2f0fa) onto v10.1, which applies without conflicts:

• src/external_dependencies/fanuc 8cbefe8 → dc2fd59: 2 commits ahead, 0 behind. The only change is cmake_minimum_required 3.16 in all 21 fanuc packages.
• src/external_dependencies/ros2_kortex 732b96f → fdf9077: 2 commits ahead, 0 behind. Adds cmake_policy(SET CMP0135 NEW) in kortex_api and kortex_driver, behind if(POLICY).
• moveit_studio_kinova_pstop_manager: create_service/create_client now take rclcpp::ServicesQoS(). It is built from rmw_qos_profile_services_default, so the QoS does not change.
• example_behaviors: moves to the system <tl/expected.hpp> (libexpected-dev). That package has a COLCON_IGNORE on v10.1, so this change is not built or tested here. It keeps the branch the same as v10.0.

The phoebe_ws bump in #862 is left out because #989 already brought it to v10.1 at the same SHA.

Warnings that stay are outside this repo:

• pytest-cov not found: the MoveIt Pro image lacks python3-pytest-cov.
• tl_expected CMake deprecation: reaches user packages through generate_parameter_library → parameter_traits, which moveit_pro_base exports.
• PCL FindFLANN CMP0144: comes from the system PCL CMake module.

main has the same three sources, but it vendors external_dependencies, so it needs a separate change.

How it was tested

In picknikciuser/moveit-pro:10.1.0-rc12-jazzy, colcon build --packages-up-to fanuc kortex_api moveit_studio_kinova_pstop_manager with console_stderr+:

	Packages with stderr	Warnings
origin/v10.1	23	25
This branch	0	0

kortex_driver also builds without warnings. colcon test ran 0 tests: kortex_driver defines none, and the pstop manager's lint test dependencies are not in the image.

Release notes

Bug Fix: Fixed CMake and rclcpp deprecation warnings when building the Fanuc, Kinova, and Kortex packages in the example workspace.

Claude agent checks

• picknik:moveitpro-code-reviewer: no findings
• picknik:moveitpro-platform-architect-bot: no P0/P1. Its P2s are about description notes, covered above: the phoebe_ws omission and example_behaviors not being built. The rclcpp::QoS overloads need Jazzy, the same as on v10.0.
• picknik:moveitpro-sonar-bot: no findings. example_ws does not run SonarCloud.
• picknik:moveitpro-test-runner: 24 packages built with no stderr, 0 tests defined

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Configuration used: Organization UI

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Run ID: 949fae18-a2bd-4294-84ef-7f63686211c9

📥 Commits

Reviewing files that changed from the base of the PR and between 7e61ce4 and 03b78b4.

📒 Files selected for processing (9)

• src/example_behaviors/CMakeLists.txt
• src/example_behaviors/include/example_behaviors/example_sam2_segmentation.hpp
• src/example_behaviors/package.xml
• src/example_behaviors/src/example_ndt_registration.cpp
• src/example_behaviors/src/example_ransac_registration.cpp
• src/example_behaviors/src/example_sam2_segmentation.cpp
• src/external_dependencies/fanuc
• src/external_dependencies/ros2_kortex
• src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp

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📝 Summary

Summary by CodeRabbit

• Bug Fixes

  • Updated service communication settings in the Kinova protective stop manager.

• Chores

  • Updated dependencies and package configuration for the expected-value library.
  • Refreshed the included FANUC and ROS 2 Kortex components.

Walkthrough

The pull request updates the tl-expected dependency integration and include paths, changes QoS arguments in the protective-stop manager, and updates the Fanuc and ros2_kortex subproject references.

Changes

tl-expected integration

Layer / File(s)	Summary
Expected package integration src/example_behaviors/CMakeLists.txt, src/example_behaviors/package.xml, src/example_behaviors/include/example_behaviors/example_sam2_segmentation.hpp, src/example_behaviors/src/example_*.cpp	The package declares and links tl-expected. The header and three source files use tl/expected.hpp instead of tl_expected/expected.hpp.

Protective-stop service QoS

Layer / File(s)	Summary
Service and client QoS src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp	The recovery service and controller-switch and fault-reset clients use rclcpp::ServicesQoS() instead of rmw_qos_profile_services_default.

External subproject revisions

Layer / File(s)	Summary
Subproject reference updates src/external_dependencies/fanuc, src/external_dependencies/ros2_kortex	The Fanuc and ros2_kortex references point to updated commits.

Priority: ⬇️ Low

Merge Risk: ⚪ Minimal · up to 03b78

No actionable merge-blocking issue is established. The excluded example_behaviors package was not build-tested, but that gap alone does not establish a failure.

🚥 Pre-merge checks | ✅ 4

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description check	✅ Passed	The pull request description clearly explains the forward-port of build-warning fixes, including dependency updates, QoS changes, and the tl::expected migration. These changes match the provided chang…
Linked Issues check	✅ Passed	Issue [#22636] reports installation warnings. The pull request updates the Fanuc and ros2_kortex dependency commits, changes Kinova service clients to rclcpp::ServicesQoS(), and migrates `example_…
Out of Scope Changes check	✅ Passed	The changed files support the warning-fix scope in issue [#22636]. The dependency updates address forward-ported package fixes. The tl-expected declarations and include changes support the system-he…
Human Review Check	✅ Passed	The PR is low risk under this check. The authoritative diff contains nine files: two external dependency pointer updates, three tl::expected include/dependency changes, and three `rclcpp::ServicesQo…

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