From 46c7139b446e36cbadd784f2044ca201d89e4d6e Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Mon, 16 Sep 2024 21:15:40 +0200
Subject: [PATCH 1/3] Update urdf/model.h -> urdf/model.hpp

The old header is marked obsolete.
---
 moveit_core/constraint_samplers/test/pr2_arm_ik.h               | 2 +-
 .../constraint_samplers/test/pr2_arm_kinematics_plugin.h        | 2 +-
 moveit_core/utils/include/moveit/utils/robot_model_test_utils.h | 2 +-
 .../planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h  | 2 +-
 .../include/moveit_setup_framework/data/urdf_config.hpp         | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/moveit_core/constraint_samplers/test/pr2_arm_ik.h b/moveit_core/constraint_samplers/test/pr2_arm_ik.h
index a7633c6ef4..4ebf9b45f3 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_ik.h
+++ b/moveit_core/constraint_samplers/test/pr2_arm_ik.h
@@ -37,7 +37,7 @@
 #pragma once
 
 #include <urdf_model/model.h>
-#include <urdf/model.h>
+#include <urdf/model.hpp>
 #include <Eigen/Geometry>
 #include <Eigen/LU>  // provides LU decomposition
 #include <kdl/chainiksolver.hpp>
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
index 45c73fe87b..19b9fa9aeb 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
+++ b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
@@ -50,7 +50,7 @@
 
 #include <kdl/chainfksolverpos_recursive.hpp>
 
-#include <urdf/model.h>
+#include <urdf/model.hpp>
 
 #include <moveit/kinematics_base/kinematics_base.h>
 
diff --git a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
index 802fb89759..0d29e40d34 100644
--- a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
+++ b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
@@ -38,7 +38,7 @@
 #pragma once
 
 #include <srdfdom/srdf_writer.h>
-#include <urdf/model.h>
+#include <urdf/model.hpp>
 #include <moveit/robot_model/robot_model.h>
 #include <geometry_msgs/msg/pose.hpp>
 
diff --git a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
index cd89eda6a6..bedef6524c 100644
--- a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
+++ b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
@@ -38,7 +38,7 @@
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/rdf_loader/synchronized_string_parameter.h>
-#include <urdf/model.h>
+#include <urdf/model.hpp>
 #include <srdfdom/model.h>
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp
index 3402cf59a4..777eed3f8d 100644
--- a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp
+++ b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp
@@ -35,7 +35,7 @@
 #pragma once
 
 #include <moveit_setup_framework/config.hpp>
-#include <urdf/model.h>  // for testing a valid urdf is loaded
+#include <urdf/model.hpp>  // for testing a valid urdf is loaded
 
 namespace moveit_setup
 {

From d0c7179f7a52eed2c21f4f018e5369d9b707fdff Mon Sep 17 00:00:00 2001
From: Sebastian Jahr <sebastian.jahr@picknik.ai>
Date: Thu, 10 Oct 2024 20:02:11 +0200
Subject: [PATCH 2/3] Use conditional includes

... to still support Humble
---
 moveit_core/constraint_samplers/test/pr2_arm_ik.h           | 4 ++++
 .../constraint_samplers/test/pr2_arm_kinematics_plugin.h    | 4 ++++
 .../utils/include/moveit/utils/robot_model_test_utils.h     | 4 ++++
 .../rdf_loader/include/moveit/rdf_loader/rdf_loader.h       | 4 ++++
 .../include/moveit_setup_framework/data/urdf_config.hpp     | 6 +++++-
 5 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/moveit_core/constraint_samplers/test/pr2_arm_ik.h b/moveit_core/constraint_samplers/test/pr2_arm_ik.h
index 4ebf9b45f3..3fb50afe8f 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_ik.h
+++ b/moveit_core/constraint_samplers/test/pr2_arm_ik.h
@@ -37,7 +37,11 @@
 #pragma once
 
 #include <urdf_model/model.h>
+#if __has_include(<urdf/model.hpp>)
 #include <urdf/model.hpp>
+#else
+#include <urdf/model.h>
+#endif
 #include <Eigen/Geometry>
 #include <Eigen/LU>  // provides LU decomposition
 #include <kdl/chainiksolver.hpp>
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
index 19b9fa9aeb..6db3c908d4 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
+++ b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
@@ -50,7 +50,11 @@
 
 #include <kdl/chainfksolverpos_recursive.hpp>
 
+#if __has_include(<urdf/model.hpp>)
 #include <urdf/model.hpp>
+#else
+#include <urdf/model.h>
+#endif
 
 #include <moveit/kinematics_base/kinematics_base.h>
 
diff --git a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
index 0d29e40d34..f8fe1b052c 100644
--- a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
+++ b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
@@ -38,7 +38,11 @@
 #pragma once
 
 #include <srdfdom/srdf_writer.h>
+#if __has_include(<urdf/model.hpp>)
 #include <urdf/model.hpp>
+#else
+#include <urdf/model.h>
+#endif
 #include <moveit/robot_model/robot_model.h>
 #include <geometry_msgs/msg/pose.hpp>
 
diff --git a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
index bedef6524c..6445876478 100644
--- a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
+++ b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
@@ -38,7 +38,11 @@
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/rdf_loader/synchronized_string_parameter.h>
+#if __has_include(<urdf/model.hpp>)
 #include <urdf/model.hpp>
+#else
+#include <urdf/model.h>
+#endif
 #include <srdfdom/model.h>
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp
index 777eed3f8d..e13810be1d 100644
--- a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp
+++ b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp
@@ -35,7 +35,11 @@
 #pragma once
 
 #include <moveit_setup_framework/config.hpp>
-#include <urdf/model.hpp>  // for testing a valid urdf is loaded
+#if __has_include(<urdf/model.hpp>)  // for testing a valid urdf is loaded
+#include <urdf/model.hpp>
+#else
+#include <urdf/model.h>
+#endif
 
 namespace moveit_setup
 {

From 584846f4bad74b6913c52c334c85d959ea2174a4 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Fri, 11 Oct 2024 10:42:16 +0200
Subject: [PATCH 3/3] Temporarily disable header deprecation warnings

---
 .github/workflows/ci.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 93435c5069..23d837195c 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -34,7 +34,7 @@ jobs:
       # TODO(andyz): When this clang-tidy issue is fixed, remove -Wno-unknown-warning-option
       # https://stackoverflow.com/a/41673702
       CXXFLAGS: >-
-        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unknown-warning-option
+        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unknown-warning-option -Wno-cpp
       CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: >